Search results for: job search assistance

Authors: Maria Jokela, Matti Kutila, Jukka Laitinen, Florian Ahlers, Nicolas Hautière, TobiasSchendzielorz

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It has been shown that in most accidents the driver is responsible due to being distracted or misjudging the situation. In order to solve such problems research has been dedicated to developing driver assistance systems that are able to monitor the traffic situation around the vehicle. This paper presents methods for recognizing several circumstances on a road. The methods use both the in-vehicle warning systems and the roadside infrastructure. Preliminary evaluation results for fog and ice-on-road detection are presented. The ice detection results are based on data recorded in a test track dedicated to tyre friction testing. The achieved results anticipate that ice detection could work at a performance of 70% detection with the right setup, which is a good foundation for implementation. However, the full benefit of the presented cooperative system is achieved by fusing the outputs of multiple data sources, which is the key point of discussion behind this publication.

Keywords: Smart roads, traffic monitoring, traffic scenedetection.

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Authors: Radhika Ambatipudi, Hari Babu Kotte, Dr. Kent Bertilsson

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In this paper, multilayered coreless printed circuit board (PCB) step-down power transformers for DC-DC converter applications have been designed, manufactured and evaluated. A set of two different circular spiral step-down transformers were fabricated in the four layered PCB. These transformers have been modelled with the assistance of high frequency equivalent circuit and characterized with both sinusoidal and square wave excitation. This paper provides the comparative results of these two different transformers in terms of their resistances, self, leakage, mutual inductances, coupling coefficient and also their energy efficiencies. The operating regions for optimal performance of these transformers for power transfer applications are determined. These transformers were tested for the output power levels of about 30 Watts within the input voltage range of 12-50 Vrms. The energy efficiency for these step down transformers is observed to be in the range of 90%-97% in MHz frequency region.

Keywords: Coreless Step down Transformer, DC-DC Converterapplications, High frequency transformer, MHz operating frequency, Multilayered PCB transformers, Power Transfer Applications.

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Authors: Yuji Kageyama, Shin Nagata, Tatsuya Takino, Izuru Nomura, Hiroyuki Kamata

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In previous study, technique to estimate a self-location by using a lunar image is proposed.We consider the improvement of the conventional method in consideration of FPGA implementationin this paper. Specifically, we introduce Artificial Bee Colony algorithm for reduction of search time.In addition, we use fixed point arithmetic to enable high-speed operation on FPGA.

Keywords: SLIM, Artificial Bee Colony Algorithm, Location Estimate.

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Authors: Shathya Duobiene, Gediminas Račiukaitis

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Wireless Sensor Networks (WSNs) are an emerging technology that opens up a new field of research. The significant advance in WSN leads to an increasing prevalence of various monitoring applications and real-time assistance in labs and factories. Selective surface activation induced by laser (SSAIL) is a promising technology that adapts to the WSN design freedom of shape, dimensions, and material. This article proposes and implements a WSN-based temperature and humidity monitoring system, and its deployed architectures made for the monitoring task are discussed. Experimental results of developed sensor nodes implemented in university campus laboratories are shown. Then, the simulation and the implementation results obtained through monitoring scenarios are displayed. At last, a convenient solution to keep the WSN alive and functional as long as possible is proposed. Unlike other existing models, on success, the node is self-powered and can utilize minimal power consumption for sensing and data transmission to the base station.

Keywords: Internet of Things, IoT, network formation, sensor nodes, SSAIL technology.

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Authors: Maja Ruzic-Baf, Vedrana Keteles, Andrea Debeljuh

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Younger and younger children are now using a smartphone, a device which has become ‘a must have’ and the life of children would be almost ‘unthinkable’ without one. Devices are becoming lighter and lighter but offering an array of options and applications as well as the unavoidable access to the Internet, without which it would be almost unusable. Numerous features such as taking of photographs, listening to music, information search on the Internet, access to social networks, usage of some of the chatting and messaging services, are only some of the numerous features offered by ‘smart’ devices. They have replaced the alarm clock, home phone, camera, tablet and other devices. Their use and possession have become a part of the everyday image of young people. Apart from the positive aspects, the use of smartphones has also some downsides. For instance, free time was usually spent in nature, playing, doing sports or other activities enabling children an adequate psychophysiological growth and development. The greater usage of smartphones during classes to check statuses on social networks, message your friends, play online games, are just some of the possible negative aspects of their application. Considering that the age of the population using smartphones is decreasing and that smartphones are no longer ‘foreign’ to children of pre-school age (smartphones are used at home or in coffee shops or shopping centers while waiting for their parents, playing video games often inappropriate to their age), particular attention must be paid to a very sensitive group, the teenagers who almost never separate from their ‘pets’. This paper is divided into two sections, theoretical and empirical ones. The theoretical section gives an overview of the pros and cons of the usage of smartphones, while the empirical section presents the results of a research conducted in three elementary schools regarding the usage of smartphones and, specifically, their usage during classes, during breaks and to search information on the Internet, check status updates and 'likes’ on the Facebook social network.

Keywords: Education, smartphone, social networks, teenagers.

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Authors: Jarno Haapamäki, Juha Röning

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Scale defects are common surface defects in hot steel rolling. The modelling of such defects is problematic and their causes are not straightforward. In this study, we investigated genetic algorithms in search for a mathematical solution to scale formation. For this research, a high-dimensional data set from hot steel rolling process was gathered. The synchronisation of the variables as well as the allocation of the measurements made on the steel strip were solved before the modelling phase.

Keywords: Genetic algorithms, hot strip rolling, knowledge discovery, modeling.

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Authors: L. Nouri Taiba, Y. Bouhamidi, F. Kaouah, Z. Bendjama, M. Trari

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In the present study, an ecofriendly biocomposite namely calcium alginate immobilized Ammi Visnaga (Khella) extraction waste (SWAV/CA) was prepared by electrostatic extrusion method and used on the cadmium biosorption from aqueous phase with and without the assistance of ultrasound in batch conditions. The influence of low frequency ultrasound (37 and 80 KHz) on the cadmium biosorption kinetics was studied. The obtained results show that the ultrasonic irradiation significantly enhances and improves the efficiency of the cadmium removal. The Pseudo first order, Pseudo-second-order, Intraparticle diffusion, and Elovich models were evaluated using the non-linear curve fitting analysis method. Modeling of kinetic results shows that biosorption process is best described by the pseudo-second order and Elovich, in both the absence and presence of ultrasound.

Keywords: Biocomposite, biosorption, cadmium, non-linear analysis, ultrasound.

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Authors: Y. J. Huang, J. D. Yu, B. W. Hong, C. H. Tai, T. C. Kuo

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In this paper, a multi-agent robot system is presented. The system consists of four robots. The developed robots are able to automatically enter and patrol a harmful environment, such as the building infected with virus or the factory with leaking hazardous gas. Further, every robot is able to perform obstacle avoidance and search for the victims. Several operation modes are designed: remote control, obstacle avoidance, automatic searching, and so on.

Keywords: autonomous robot, field programmable gate array, obstacle avoidance, ultrasonic sensor, wireless communication.

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Authors: J. Seke Mboungou Mouyabi

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This paper is an exploration of the conceptual confusion between E-learning and M-learning particularly in Africa. Section I provides a background to the development of E-learning and M-learning. Section II focuses on the conceptual analysis as it applies to Africa. It is with an investigative and expansive mind that this paper is elaborated to respond to a profound question of the suitability of the concepts in a particular era in Africa. The aim of this paper is therefore to shed light on which concept best suits the unique situation of Africa in the era of cloud computing.

Keywords: African Concept, Cloud computing, E-learning, Mlearning

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Authors: Cherryl Lowe

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Background - The TrendCare Patient Dependency System is currently used by a large number of maternity Services across Australia, New Zealand and Singapore. In 2012, 2013 and 2014 validation studies were initiated in all three countries to validate the acuity tools used for women in labour, and postnatal mothers and babies. This paper will present the findings of the validation study. Aim - The aim of this study was to; identify if the care hours provided by the TrendCare acuity system was an accurate reflection of the care required by women and babies; obtain evidence of changes required to acuity indicators and/or category timings to ensure the TrendCare acuity system remains reliable and valid across a range of maternity care models in three countries. Method - A non-experimental action research methodology was used across maternity services in four District Health Boards in New Zealand, a large tertiary and a large secondary maternity service in Singapore and a large public maternity service in Australia. Standardised data collection forms and timing devices were used to collect midwife contact times, with women and babies included in the study. Rejection processes excluded samples when care was not completed/rationed, and contact timing forms were incomplete. The variances between actual timed midwife/mother/baby contact and the TrendCare acuity category times were identified and investigated. Results - Thirty two (88.9%) of the 36 TrendCare acuity category timings, fell within the variance tolerance levels when compared to the actual timings recorded for midwifery care. Four (11.1%) TrendCare categories provided less minutes of care than the actual timings and exceeded the variance tolerance level. These were all night shift category timings. Nine postnatal categories were not able to be compared as the sample size for these categories was statistically insignificant. 100% of labour ward TrendCare categories matched actual timings for midwifery care, all falling within the variance tolerance levels. The actual time provided by core midwifery staff to assist lead maternity carer (LMC) midwives in New Zealand labour wards showed a significant deviation to previous studies. The findings of the study demonstrated the need for additional time allocations in TrendCare to accommodate an increased level of assistance given to LMC midwives. Conclusion - The results demonstrated the importance of regularly validating the TrendCare category timings with actual timings of the care hours provided. It was evident from the findings that variances to models of care and length of stay in maternity units have increased midwifery workloads on the night shift. The level of assistance provided by the core labour ward staff to the LMC midwife has increased substantially. Outcomes - As a consequence of this study, changes were made to the night duty TrendCare maternity categories, additional acuity indicators were developed and times for assisting LMC midwives in labour ward increased. The updated TrendCare version was delivered to maternity services in 2014.

Keywords: Maternity, acuity, midwifery research, midwifery workloads.

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Authors: M. Imran Akram, Ahmed Pasha, Nabeel Iqbal

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In this paper a real-time trajectory generation algorithm for computing 2-D optimal paths for autonomous aerial vehicles has been discussed. A dynamic programming approach is adopted to compute k-best paths by minimizing a cost function. Collision detection is implemented to detect intersection of the paths with obstacles. Our contribution is a novel approach to the problem of trajectory generation that is computationally efficient and offers considerable gain over existing techniques.

Keywords: dynamic programming, graph search, path planning.

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Authors: Osifeko Olalekan Remigious, Adesanya Adebisi Joseph, Omolade Akinmade Olatunde

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The focus of this study was to determine the factors associated with the use of substances for sport performance of youth in Lagos state sport. Questionnaire was the instrument used for the study. Descriptive research method was used. The estimated population for the study was 2000 sport men and women. The sample size was 200 respondents for purposive sampling techniques were used. The instrument was validated in it content and constructs value. The instrument was administered with the assistance of the coaches. Same 200 copies administered were returned. The data obtained was analysed using simple percentage and chi-square (x2) for stated hypothesis at 0.05 level of significance. The finding reveal that sport injuries exercise induced and anaphylaxis and asthma and feeling of loss of efficacy associated with alcohol used on sport performance among the users of substances. Alcohol users are recommended to partake in sport like swimming, basketball and volleyball because they have space of time for resting while at play. Government should be fully in charge of the health of sport men and women.

Keywords: Implications, Lagos state, substances, sports performance, youths.

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Authors: Razagh Hafezi, Ahmad Keshavarz, Vida Moshfegh

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This paper presents a novel algorithm of stereo correspondence with rank transform. In this algorithm we used the genetic algorithm to achieve the accurate disparity map. Genetic algorithms are efficient search methods based on principles of population genetic, i.e. mating, chromosome crossover, gene mutation, and natural selection. Finally morphology is employed to remove the errors and discontinuities.

Keywords: genetic algorithm, morphology, rank transform, stereo correspondence

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Authors: Pei-Chun Lee, Sheng-Shih Wang, Pei-Hsuan Ku

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Many existing amusement parks have been operated with assistance of a variety of information and communications technologies to design friendly and efficient service systems for tourists. However, these systems leave various levels of decisions to tourists to make by themselves. This incurs pressure on tourists and thereby bringing negative experience in their tour. This paper proposes a smart amusement park system to offer each tourist the GPS-based customized plan without tourists making decisions by themselves. The proposed system consists of the mobile app subsystem, the central subsystem, and the detecting/counting subsystem. The mobile app subsystem interacts with the central subsystem. The central subsystem performs the necessary computing and database management of the proposed system. The detecting/counting subsystem aims to detect and compute the number of visitors to an attraction. Experimental results show that the proposed system can not only work well, but also provide an innovative business operating model for owners of amusement parks.

Keywords: Amusement park, location-based service (LBS), mobile app, tourist service.

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Authors: Abu Bakar Sedek Abdul Jamak, Saridan Abu Bakar, Zulkipli Ghazali, Roselind Wan

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The majority of micro-entrepreneurs in Malaysia operate very small-scaled business activities such as food stalls, burger stalls, night market hawkers, grocery stores, constructions, rubber and oil palm small holders, and other agro-based services and activities. Why are they venturing into entrepreneurship - is it for survival, out of interest or due to encouragement and assistance from the local government? And why is it that some micro-entrepreneurs are lagging behind in entrepreneurship, and what do they need to rectify this situation so that they are able to progress further? Furthermore, what are the skills that the micro entrepreneurs should developed to transform them into successful micro-enterprises and become small and medium-sized enterprises (SME)? This paper proposes a 7-Step approach that can serve as a basis for identification of critical entrepreneurial success factors that enable policy makers, practitioners, consultants, training managers and other agencies in developing tools to assist micro business owners. This paper also highlights the experience of one of the successful companies in Malaysia that has transformed from micro-enterprise to become a large organization in less than 10 years.

Keywords: Entrepreneurship, Micro-entrepreneurs, Transformation, Customers

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Authors: G. Balakrishnan, G. Sainarayanan, R. Nagarajan, Sazali Yaacob

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This paper presents a review on vision aided systems and proposes an approach for visual rehabilitation using stereo vision technology. The proposed system utilizes stereo vision, image processing methodology and a sonification procedure to support blind navigation. The developed system includes a wearable computer, stereo cameras as vision sensor and stereo earphones, all moulded in a helmet. The image of the scene infront of visually handicapped is captured by the vision sensors. The captured images are processed to enhance the important features in the scene in front, for navigation assistance. The image processing is designed as model of human vision by identifying the obstacles and their depth information. The processed image is mapped on to musical stereo sound for the blind-s understanding of the scene infront. The developed method has been tested in the indoor and outdoor environments and the proposed image processing methodology is found to be effective for object identification.

Keywords: Blind navigation, stereo vision, image processing, object preference, music tones.

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Authors: Elnura Assyltayeva, Zhanar Aldubasheva, Zhengisbek Tolen, Ziyakul Assyltayeva, Aliya Alimzhanova

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Mankind has entered into an extremely complex and controversial stage of its development: the world is simultaneously organized and chaoticized, globalized and localized, combined and split. Analysts point out that globalization as a process of strengthening economic, cultural, financial and other ties of states cause many problems. In the economic sphere, it creates the danger of growing gap between the states, in the sphere of politics it leads to the weakening of political power and influence of nation-states.

Keywords: Civic identity, globalization, identity crisis, culture identity

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Authors: Lae-Jeong Park, Jung-Ho Moon

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People detection from images has a variety of applications such as video surveillance and driver assistance system, but is still a challenging task and more difficult in crowded environments such as shopping malls in which occlusion of lower parts of human body often occurs. Lack of the full-body information requires more effective features than common features such as HOG. In this paper, new features are introduced that exploits global self-symmetry (GSS) characteristic in head-shoulder patterns. The features encode the similarity or difference of color histograms and oriented gradient histograms between two vertically symmetric blocks. The domain-specific features are rapid to compute from the integral images in Viola-Jones cascade-of-rejecters framework. The proposed features are evaluated with our own head-shoulder dataset that, in part, consists of a well-known INRIA pedestrian dataset. Experimental results show that the GSS features are effective in reduction of false alarmsmarginally and the gradient GSS features are preferred more often than the color GSS ones in the feature selection.

Keywords: Pedestrian detection, cascade of rejecters, feature extraction, self-symmetry, HOG.

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Authors: Ahmad Alhawarat, Mustafa Mamat, Mohd Rivaie, Ismail Mohd

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Conjugate gradient method has been enormously used to solve large scale unconstrained optimization problems due to the number of iteration, memory, CPU time, and convergence property, in this paper we find a new class of nonlinear conjugate gradient coefficient with global convergence properties proved by exact line search. The numerical results for our new βK give a good result when it compared with well known formulas.

Keywords: Conjugate gradient method, conjugate gradient coefficient, global convergence.

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Authors: S. Vijayakumar, M. Sasikala, T. S. Mohammed Saleem, Gurusharan, K. Gauthaman

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The main objective of our study is to collect data about the profile of the asthmatic patients in Assam and thereby have a comprehensive knowledge of the factors influencing the asthmatic patients of the state and their medication pattern. We developed a search strategy to find any publication about the community based survey asthma related and used. These to search the MEDLINE (1996 to current literature) CINAHL DOAJ pubmed databases using the key phrases, Asthma, Respiratory disorders, Drug therapy of Asthma, database decision support system and asthma. The appropriate literature was printed out from the online source and library (Journal) source. The study was conducted through a set of structured and non-structured questionnaires targeted on the asthmatic patients belonging to the rural and urban areas of Assam, during the month of Dec 2006 to July 2007, 138 cases were studied in Gauwathi Medical College & Hospital located in Bhangagarh, Assam in India. The demographic characteristics a factor in 138 patients with asthma with allergic rhinitis (cases) gives the detail profile of asthmatic patient-s distribution of Assam as classified on the basis of age and sex. It is evident from the study that male populations (66%) are more prone to asthma as compared to the females (34%).Another striking features that emerged from this survey is the maximum prevalence of asthma in the age group of 20- 30 years followed by infants belonging to the age group of 7 (0.05%) 0-10years among both male and female populations of Assam. The high incidence of asthma in the age group of 20-30 years may probably be due to the allergy arising out of sudden exposure to dust and pollen which the children face while playing and going to the school. The rural females in the age group of 30-40 years are more prone to asthma than urban females in the same age group may be due to sex differentiation among the tribal population of the state. Pharmacists should educate the asthmatics how to use inhalers considering growing menace of asthma in the state. Safer drugs should be produced in the form of aerosol so that easy administration by the asthmatic patients and physicians of the state is possible for curing asthma. The health centers should be more equipped with the medicines to cure asthma in the state like Assam.

Keywords: Asthma, Respiratory disease, Smoker.

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Authors: Gee-Cheol Kim, Joo-Won Kang

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A theoretical study of the rigidities of slabs with circular voids oriented in the longitudinal and in the transverse direction is discussed. Equations are presented for predicting the bending and torsional rigidities of the voided slabs. This paper summarizes the results of an extensive literature search and initial review of the current methods of analyzing voided slab. The various methods of calculating the equivalent plate parameters, which are necessary for two-dimensional analysis, are also reviewed. Static deflections on voided slabs are shown to be in good agreement with proposed equation.

Keywords: voided slab, bending rigidity, torsional rigidity, orthotropic plate

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Authors: Grigorios N. Beligiannis, Georgios A. Tsirogiannis, Panayotis E. Pintelas

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In this contribution, the use of a new genetic operator is proposed. The main advantage of using this operator is that it is able to assist the evolution procedure to converge faster towards the optimal solution of a problem. This new genetic operator is called ''intuition'' operator. Generally speaking, one can claim that this operator is a way to include any heuristic or any other local knowledge, concerning the problem, that cannot be embedded in the fitness function. Simulation results show that the use of this operator increases significantly the performance of the classic Genetic Algorithm by increasing the convergence speed of its population.

Keywords: Genetic algorithms, intuition operator, reasonable genomes, complex search space, nonlinear fitness functions

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Authors: S. Hellam, Y. Oulahrir, F. El Mounchid, A. Sadiq, S. Mbarki

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In this paper, we propose a method for three-dimensional (3-D)-model indexing based on defining a new descriptor, which we call new descriptor using spherical harmonics. The purpose of the method is to minimize, the processing time on the database of objects models and the searching time of similar objects to request object. Firstly we start by defining the new descriptor using a new division of 3-D object in a sphere. Then we define a new distance which will be used in the search for similar objects in the database.

Keywords: 3D indexation, spherical harmonic, similarity of 3D objects.

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Authors: Ewa Wywial, Shaneen M. Singh

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The PRAF family of proteins is a plant specific family of proteins with distinct domain architecture and various unique sequence/structure traits. We have carried out an extensive search of the Arabidopsis genome using an automated pipeline and manual methods to verify previously known and identify unknown instances of PRAF proteins, characterize their sequence and build 3D structures of their individual domains. Integrating the sequence, structure and whatever little known experimental details for each of these proteins and their domains, we present a comprehensive characterization of the different domains in these proteins and their variant properties.

Keywords: PRAF proteins, homology modeling, Arabidopsisthaliana

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Authors: Claudiu N.Musat

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Due to the constant increase in the volume of information available to applications in fields varying from medical diagnosis to web search engines, accurate support of similarity becomes an important task. This is also the case of spam filtering techniques where the similarities between the known and incoming messages are the fundaments of making the spam/not spam decision. We present a novel approach to filtering based solely on layout, whose goal is not only to correctly identify spam, but also warn about major emerging threats. We propose a mathematical formulation of the email message layout and based on it we elaborate an algorithm to separate different types of emails and find the new, numerically relevant spam types.

Keywords: Clustering, layout, k-means, spam.

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Authors: Sayed Hadi Sadeghi

Abstract:

This research study examines the current state of support services for e-network practice in an Australian and an American university. It identifies information that will be of assistance to Australian and American universities to improve their existing online programs. The study investigated the two universities using a quantitative methodological approach. Participants were students, lecturers and admins of universities engaged with online courses and learning management systems. The support services for e-network practice variables, namely academic support services, administrative support and technical support, were investigated for e-practice. Evaluations of e-network support service and its sub factors were above average and excellent in both countries, although the American admins and lecturers tended to evaluate this factor higher than others did. Support practice was evaluated higher by all participants of an American university than by Australians. One explanation for the results may be that most suppliers of the Australian university e-learning system were from eastern Asian cultural backgrounds with a western networking support perspective about e-learning.

Keywords: Support services, e-network practice, Australian universities, United States universities.

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Authors: Loay A. Altamimi

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Collaborative technologies or software known as groupware are key enabling tools for communication, collaboration and co-ordination among individuals, work groups and businesses. Available reviews of the groupware literature are very few, and mostly neither systematic nor recent. This paper is an effort to fill this gap, and to provide researchers, with a more up-to-date and wide systematic literature review. For this purpose, 1087 scholarly articles, published from 1990 to 2013, on the topic of groupware, were collected by the literature search. The study here adopted the systematic approach of lexical analysis for the analysis of those articles.

Keywords: Lexical Analysis, Literature review, Groupware, collaborative Software.

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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: Alexandre Rabaseda, Emelie Seguin, Marc Doumit

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Human mobility exoskeletons have been in development for several years and are becoming increasingly efficient. Unfortunately, user comfort was not always a priority design criterion throughout their development. To further improve this technology, exoskeletons should operate and deliver assistance without causing discomfort to the user. For this, improvements are necessary from an ergonomic point of view. The device’s control method is important when endeavoring to enhance user comfort. Exoskeleton or rehabilitation device controllers use methods of control called interaction controls (admittance and impedance controls). This paper proposes an extended version of an admittance controller to enhance user comfort. The control method used consists of adding an inner loop that is controlled by a proportional-integral-derivative (PID) controller. This allows the interaction force to be kept as close as possible to the desired force trajectory. The force-tracking admittance controller modifies the actuation force of the system in order to follow both the desired motion trajectory and the desired relative force between the user and the exoskeleton.

Keywords: Mobility assistive device, exoskeleton, force-tracking admittance controller, user comfort.

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Authors: Han Yu, Dan C. Marinescu, Annie S. Wu, Howard Jay Siegel

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In this paper, we introduce an effective strategy for subgoal division and ordering based upon recursive subgoals and combine this strategy with a genetic-based planning approach. This strategy can be applied to domains with conjunctive goals. The main idea is to recursively decompose a goal into a set of serializable subgoals and to specify a strict ordering among the subgoals. Empirical results show that the recursive subgoal strategy reduces the size of the search space and improves the quality of solutions to planning problems.

Keywords: Planning, recursive subgoals, Sliding-tile puzzle, subgoal interaction, genetic algorithms.

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