Search results for: traffic calming measures

Authors: A. K. Abd El-Aleem, W. F. Abd El-wahed, N. A. Ismail, F. A. Torkey

Abstract:

This study suggests a model of a new set of evaluation criteria that will be used to measure the efficiency of real-world E-commerce websites. Evaluation criteria include design, usability and performance for websites, the Data Envelopment Analysis (DEA) technique has been used to measure the websites efficiency. An efficient Web site is defined as a site that generates the most outputs, using the smallest amount of inputs. Inputs refer to measurements representing the amount of effort required to build, maintain and perform the site. Output is amount of traffic the site generates. These outputs are measured as the average number of daily hits and the average number of daily unique visitors.

Keywords: Data Envelopment Analysis, E-commerce, Efficiency.

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Authors: Bárbara Dantas

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Nicolas-Antoine Taunay had everything to have a quiet life with his family, his colleagues from the Paris Academy of Art, and as a renowned painter of the French Court, but the conjuncture was quite complicated in those final years of the eighteenth century and first decades of the 19th century. The painter had to adapt to various political and social ruptures: from royalty to the French Revolution, from the empire of Napoleon Bonaparte to the empire of King John VI. We wish to insert Taunay in its context through the analysis of his portrait made by a colleague of the profession and of a Brazilian landscape painted of his own (1816-1821) and, in which he represented himself. Finally, the intention is to find in these two paintings how Nicolas-Antoine Taunay faced himself and in the middle that surrounded him in the traffic that was forced to make it between Paris and Rio de Janeiro.

Keywords: Nicolas-Antoine Taunay, politic iconography, French Art, Brazilian Art, 19th century.

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Authors: P.S.Prakash, S.Selvan

Abstract:

Packet switched data network like Internet, which has traditionally supported throughput sensitive applications such as email and file transfer, is increasingly supporting delay-sensitive multimedia applications such as interactive video. These delaysensitive applications would often rather sacrifice some throughput for better delay. Unfortunately, the current packet switched network does not offer choices, but instead provides monolithic best-effort service to all applications. This paper evaluates Class Based Queuing (CBQ), Coordinated Earliest Deadline First (CEDF), Weighted Switch Deficit Round Robin (WSDRR) and RED-Boston scheduling schemes that is sensitive to delay bound expectations for variety of real time applications and an enhancement of WSDRR is proposed.

Keywords: QoS, Delay-sensitive, Queuing delay, Scheduling

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Authors: Kristoffer Clyde Magsino, H. Srikanth Kamath

Abstract:

Wireless Sensor Network is widely used in electronics. Wireless sensor networks are now used in many applications including military, environmental, healthcare applications, home automation and traffic control. We will study one area of wireless sensor networks, which is the routing protocol. Routing protocols are needed to send data between sensor nodes and the base station. In this paper, we will discuss two routing protocols, such as datacentric and hierarchical routing protocol. We will show the output of the protocols using the NS-2 simulator. This paper will compare the simulation output of the two routing protocol using Nam. We will simulate using Xgraph to find the throughput and delay of the protocol.

Keywords: data-centric routing protocol, hierarchical routingprotocol, Nam, NS-2, Routing Protocol, sensor nodes, SPIN, throughput, Xgraph

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Authors: Ghada Karaki

Abstract:

The bridge vibration due to traffic loading has been a subject of extensive research during the last decades. A number of these studies are concerned with the effects of the unevenness of roadways on the dynamic responses of highway bridges. The road unevenness is often described as a random process that constitutes of different wavelengths. Thus, the study focuses on examining the effects of the random description of roadways on the dynamic response and its variance. A new setting of variance based sensitivity analysis is proposed and used to identify and quantify the contributions of the roadway-s wavelengths to the variance of the dynamic response. Furthermore, the effect of the vehicle-s speed on the dynamic response is studied.

Keywords: vehicle bridge interaction, sensitivity analysis, road unevenness, random processes, critical speeds

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Authors: Sanjeev Kumar Appicharla

Abstract:

This paper presents the results of the modelling and analysis of the European Railway Traffic Management (ERTMS) safety critical incident to raise awareness of biases in systems engineering process on the Cambrian Railway in the UK using the RAIB 17/2019 as a primary input. The RAIB, the UK independent accident investigator, published the Report- RAIB 17/2019 giving the details of their investigation of the focal event in the form of immediate cause, causal factors and underlying factors and recommendations to prevent a repeat of the safety-critical incident on the Cambrian Line. The Systems for Investigation of Railway Interfaces (SIRI) is the Methodology used to model and analyse the safety-critical incident. The SIRI Methodology uses the Swiss Cheese Model to model the incident and identify latent failure conditions (potentially less than adequate conditions) by means of the Management Oversight and Risk Tree technique. The benefits of the SIRI Methodology are threefold: first is that it incorporates “Heuristics and Biases” approach, in the Management Oversight and Risk Tree technique to identify systematic errors. Civil engineering and programme management railway professionals are aware of role “optimism bias” plays in programme cost overruns and are aware of bow tie (fault and event tree) model-based safety risk modelling technique. However, the role of systematic errors due to “Heuristics and Biases” is not appreciated as yet. This overcomes the problems of omission of human and organisational factors from accident analysis. Second, the scope of the investigation includes all levels of the socio-technical system, including government, regulatory, railway safety bodies, duty holders, signalling firms and transport planners, and front-line staff such that lessons learned at the decision making and implementation level as well. Third, the author’s past accident case studies are supplemented with research pieces of evidence drawn from the practitioner’s and academic researchers’ publications as well. This is to discuss the role of system thinking to improve the decision making and risk management processes and practices in the IEC 15288 Systems Engineering standard, and in the industrial context such as the GB railways and Artificial Intelligence (AI) contexts as well.

Keywords: Accident analysis, AI algorithm internal audit, bounded rationality, Byzantine failures, heuristics and biases approach.

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Authors: Yuan Zhang

Abstract:

Along with large population and great demands for urban development, Hong Kong serves as a typical high-density city with multiple altitudes, advanced three-dimensional traffic system, rich city open space, etc. This paper contributes to analyzing its complex urban form and evolution mechanism from three aspects of view, separately as time, space and buildings. Taking both horizontal and vertical dimension into consideration, this paper provides a perspective to explore the fascinating process of growing and space folding in the urban form of high-density city, also as a research reference for related high-density urban design.

Keywords: Evolution mechanism, high-density city, Hong Kong, urban form.

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Authors: Alexandra Gheorghiu, Marie-Line Félonneau

Abstract:

Speeding represents one of the main concerns for road safety and it still is a subject for research. The need to address this problem and to understand why drivers over speed increases especially in Romania, where in 2011, speed was the main cause of car accidents. This article addresses this problem by using the theory of planned behaviour. A questionnaire was administered to a sample of young Romanian drivers (18 to 25 years) and several path analyses were made in order to verify if the model proposed by the theory of planned behaviour fits the data. One interesting result is that perceived behavioural control does not predict the intention to speed or self-reported driving speed, but subjective norms do. This implies that peers and social environment have a greater impact on young Romanian drivers than we thought.

Keywords: Speed, traffic safety, theory of planned behaviour, young drivers.

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Authors: S. Al-Sowayan, K. L. Lear

Abstract:

A new technique to quantify the differential mode delay (DMD) in multimode fiber (MMF) is been presented. The technique measures DMD based on angular launch and measurements of the difference in modal delay using variable apertures at the fiber face. The result of the angular spatial filtering revealed less excitation of higher order modes when the laser beam is filtered at higher angles. This result would indicate that DMD profiles would experience a data pattern dependency.

Keywords: Fiber measurements, Fiber optic communications

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Authors: Huang Xiaoling, Liu Lufeng

Abstract:

In this paper, we seek to determine one reasonable local hub port and optimal routes for a containership fleet, performing pick-ups and deliveries, between the hub and spoke ports in a same region. The relationship between a hub port, and traffic in feeder lines is analyzed. A new network planning method is proposed, an integrated hub port location and route design, a capacitated vehicle routing problem with pick-ups, deliveries and time deadlines are formulated and solved using an improved genetic algorithm for positioning the hub port and establishing routes for a containership fleet. Results on the performance of the algorithm and the feasibility of the approach show that a relatively small fleet of containerships could provide efficient services within deadlines.

Keywords: Route planning, Hub port location, Container feeder service.

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Authors: Amany M. Alshawi, Khaled Alduhaiman

Abstract:

This paper proposes a technique to protect against email bombing. The technique employs a statistical approach, Naïve Bayes (NB), and Neural Networks to show that it is possible to differentiate between good and bad traffic to protect against email bombing attacks. Neural networks and Naïve Bayes can be trained by utilizing many email messages that include both input and output data for legitimate and non-legitimate emails. The input to the model includes the contents of the body of the messages, the subject, and the headers. This information will be used to determine if the email is normal or an attack email. Preliminary tests suggest that Naïve Bayes can be trained to produce an accurate response to confirm which email represents an attack.

Keywords: Email bombing, Legitimate email, Naïve Bayes, Neural networks, Non-legitimate email.

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Authors: Khashayar Kashani Jou

Abstract:

Transportation is one of the most fundamental challenges of urban development in contemporary world. On the other hand, sustainable urban development has received tremendous public attention in the last few years. This trend in addition to other factors such as energy cost, environmental concerns, traffic congestion and the feeling of lack of belonging have contributed to the development of pedestrian areas. The purpose of this paper is to study the role of walkable streets in sustainable development of cities. Accordingly, a documentary research through valid sources has been utilized to substantiate this study. The findings demonstrate that walking can lead to sustainable urban development from physical, social, environmental, cultural, economic and political aspects. Also, pedestrian areas –which are the main context of walking- act as focal points of development in cities and have a great effect on modifying and stimulating of their adjacent urban spaces.

Keywords: Pedestrian area, Sustainable urban development, Walking, Woonerf

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Authors: Jun-Kwon Jung, Sung-Min Jung, Tae-Kyung Kim, Tai-Myoung Chung

Abstract:

CloudSim is a useful tool to simulate the cloud environment. It shows the service availability, the power consumption, and the network traffic of services on the cloud environment. Moreover, it supports to calculate a network communication delay through a network topology data easily. CloudSim allows inputting a file of topology data, but it does not provide any generating process. Thus, it needs the file of topology data generated from some other tools. The BRITE is typical network topology generator. Also, it supports various type of topology generating algorithms. If CloudSim can include the BRITE, network simulation for clouds is easier than existing version. This paper shows the potential of connection between BRITE and CloudSim. Also, it proposes the direction to link between them.

Keywords: Cloud, simulation, topology, BRITE, network.

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Authors: H. Omrani, P. Gerber

Abstract:

Success is a European project that will implement several clean transport offers in three European cities and evaluate the environmental impacts. The goal of these measures is to improve urban mobility or the displacement of residents inside cities. For e.g. park and ride, electric vehicles, hybrid bus and bike sharing etc. A list of 28 criteria and 60 measures has been established for evaluation of these transport projects. The evaluation criteria can be grouped into: Transport, environment, social, economic and fuel consumption. This article proposes a decision support system based that encapsulates a hybrid approach based on fuzzy logic, multicriteria analysis and belief theory for the evaluation of impacts of urban mobility solutions. A web-based tool called DeSSIA (Decision Support System for Impacts Assessment) has been developed that treats complex data. The tool has several functionalities starting from data integration (import of data), evaluation of projects and finishes by graphical display of results. The tool development is based on the concept of MVC (Model, View, and Controller). The MVC is a conception model adapted to the creation of software's which impose separation between data, their treatment and presentation. Effort is laid on the ergonomic aspects of the application. It has codes compatible with the latest norms (XHTML, CSS) and has been validated by W3C (World Wide Web Consortium). The main ergonomic aspect focuses on the usability of the application, ease of learning and adoption. By the usage of technologies such as AJAX (XML and Java Script asynchrones), the application is more rapid and convivial. The positive points of our approach are that it treats heterogeneous data (qualitative, quantitative) from various information sources (human experts, survey, sensors, model etc.).

Keywords: Decision support tool, hybrid approach, urban mobility.

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Authors: G. Guramishvili, M. Moistsrapishvili, L. Andghuladze

Abstract:

In the article are considered the problems arising at increasing of transferring from rolling stock axles on rail loading from 210 KN up to 270 KN and is offered for rail strength analysis definition of rail force loading complex integral characteristic with taking into account all affecting force factors that is characterizing specific operation condition of rail structure and defines the working capability of structure.

As result of analysis due mentioned method is obtained that in the conditions of 270 KN loading the rail meets the working assessment criteria of rail and rail structures: Strength, rail track stability, rail links stability and its transverse stability, traffic safety condition that is rather important for post-Soviet countries railways.

Keywords: Axial loading, rail force loading, rail structure, rail strength analysis, rail track stability.

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Authors: Martin Kendra, Jaroslav Mašek, Juraj Čamaj, Matej Babin

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The railway transport is considered as a one of the most environmentally friendly mode of transport. With future prediction of increasing of freight transport there are lines facing problems with demanded capacity. Increase of the track capacity could be achieved by infrastructure constructive adjustments. The contribution shows how the travel time can be minimized and the track capacity increased by changing some of the basic infrastructure and operation parameters, for example, the minimal curve radius of the track, the number of tracks, or the usable track length at stations. Calculation of the necessary parameter changes is based on the fundamental physical laws applied to the train movement, and calculation of the occupation time is dependent on the changes of controlling the traffic between the stations.

Keywords: Curve radius, maximum curve speed, track mass capacity, reconstruction.

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Authors: Saulius Minkevicius, Genadijus Kulvietis

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The modern queueing theory is one of the powerful tools for a quantitative and qualitative analysis of communication systems, computer networks, transportation systems, and many other technical systems. The paper is designated to the analysis of queueing systems, arising in the networks theory and communications theory (called open queueing network). The authors of this research in the sphere of queueing theory present the theorem about the law of the iterated logarithm (LIL) for the queue length of a customers in open queueing network and its application to the mathematical model of the open message switching system.

Keywords: Models of information systems, open message switching system, open queueing network, queue length of a customers, heavy traffic, a law of the iterated logarithm.

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Authors: Siliang Wang, Minghui Wang

Abstract:

Many exist studies always use Markov decision processes (MDPs) in modeling optimal route choice in stochastic, time-varying networks. However, taking many variable traffic data and transforming them into optimal route decision is a computational challenge by employing MDPs in real transportation networks. In this paper we model finite horizon MDPs using directed hypergraphs. It is shown that the problem of route choice in stochastic, time-varying networks can be formulated as a minimum cost hyperpath problem, and it also can be solved in linear time. We finally demonstrate the significant computational advantages of the introduced methods.

Keywords: Markov decision processes (MDPs), stochastictime-varying networks, hypergraphs, route choice.

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Authors: Yanling Li, Linying Ji, Zita Oravecz, Timothy R. Brick, Michael D. Hunter, Sy-Miin Chow

Abstract:

Assessing several individuals intensively over time yields intensive longitudinal data (ILD). Even though ILD provide rich information, they also bring other data analytic challenges. One of these is the increased occurrence of missingness with increased study length, possibly under non-ignorable missingness scenarios. Multiple imputation (MI) handles missing data by creating several imputed data sets, and pooling the estimation results across imputed data sets to yield final estimates for inferential purposes. In this article, we introduce dynr.mi(), a function in the R package, Dynamic Modeling in R (dynr). The package dynr provides a suite of fast and accessible functions for estimating and visualizing the results from fitting linear and nonlinear dynamic systems models in discrete as well as continuous time. By integrating the estimation functions in dynr and the MI procedures available from the R package, Multivariate Imputation by Chained Equations (MICE), the dynr.mi() routine is designed to handle possibly non-ignorable missingness in the dependent variables and/or covariates in a user-specified dynamic systems model via MI, with convergence diagnostic check. We utilized dynr.mi() to examine, in the context of a vector autoregressive model, the relationships among individuals’ ambulatory physiological measures, and self-report affect valence and arousal. The results from MI were compared to those from listwise deletion of entries with missingness in the covariates. When we determined the number of iterations based on the convergence diagnostics available from dynr.mi(), differences in the statistical significance of the covariate parameters were observed between the listwise deletion and MI approaches. These results underscore the importance of considering diagnostic information in the implementation of MI procedures.

Keywords: Dynamic modeling, missing data, multiple imputation, physiological measures.

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Authors: Chun-Chuan Yang, Jeng-Yueng Chen, Yi-Ting Mai, Chen-Ming Yang

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In this paper, the design of integrated sleep scheduling for relay nodes and user equipments under a Donor eNB (DeNB) in the mode of Time Division Duplex (TDD) in LTE-A is presented. The idea of virtual time is proposed to deal with the discontinuous pattern of the available radio resource in TDD, and based on the estimation of the traffic load, three power saving schemes in the top-down strategy are presented. Associated mechanisms in each scheme including calculation of the virtual subframe capacity, the algorithm of integrated sleep scheduling, and the mapping mechanisms for the backhaul link and the access link are presented in the paper. Simulation study shows the advantage of the proposed schemes in energy saving over the standard DRX scheme.

Keywords: LTE-A, Relay, TDD, Power Saving.

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Authors: Ganesh D. Kale, Sheela N. Vadsola

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Soil erosion is the most serious problem faced at global and local level. So planning of soil conservation measures has become prominent agenda in the view of water basin managers. To plan for the soil conservation measures, the information on soil erosion is essential. Universal Soil Loss Equation (USLE), Revised Universal Soil Loss Equation 1 (RUSLE1or RUSLE) and Modified Universal Soil Loss Equation (MUSLE), RUSLE 1.06, RUSLE1.06c, RUSLE2 are most widely used conventional erosion estimation methods. The essential drawbacks of USLE, RUSLE1 equations are that they are based on average annual values of its parameters and so their applicability to small temporal scale is questionable. Also these equations do not estimate runoff generated soil erosion. So applicability of these equations to estimate runoff generated soil erosion is questionable. Data used in formation of USLE, RUSLE1 equations was plot data so its applicability at greater spatial scale needs some scale correction factors to be induced. On the other hand MUSLE is unsuitable for predicting sediment yield of small and large events. Although the new revised forms of USLE like RUSLE 1.06, RUSLE1.06c and RUSLE2 were land use independent and they have almost cleared all the drawbacks in earlier versions like USLE and RUSLE1, they are based on the regional data of specific area and their applicability to other areas having different climate, soil, land use is questionable. These conventional equations are applicable for sheet and rill erosion and unable to predict gully erosion and spatial pattern of rills. So the research was focused on development of nonconventional (other than conventional) methods of soil erosion estimation. When these non-conventional methods are combined with GIS and RS, gives spatial distribution of soil erosion. In the present paper the review of literature on non- conventional methods of soil erosion estimation supported by GIS and RS is presented.

Keywords: Conventional methods, GIS, non-conventionalmethods, remote sensing, soil erosion modeling

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Authors: Supachai Tangwongsan, Labhidhorn Pangphuthipong

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This research work proposes a model of network security systems aiming to prevent production system in a data center from being attacked by intrusions. Conceptually, we introduce a decoy system as a part of the security system for luring intrusions, and apply network intrusion detection (NIDS), coupled with the decoy system to perform intrusion prevention. When NIDS detects an activity of intrusions, it will signal a redirection module to redirect all malicious traffics to attack the decoy system instead, and hence the production system is protected and safe. However, in a normal situation, traffic will be simply forwarded to the production system as usual. Furthermore, we assess the performance of the model with various bandwidths, packet sizes and inter-attack intervals (attacking frequencies).

Keywords: Intrusion detection, Decoy, Snort, Intrusion prevention.

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Authors: Gary D. Cantrell, E. Alex Baylot

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The radius-of-curvature (ROC) defines the degree of curvature along the centerline of a roadway whereby a travelling vehicle must follow. Roadway designs must encompass ROC in mitigating the cost of earthwork associated with construction while also allowing vehicles to travel at maximum allowable design speeds. Thus, a road will tend to follow natural topography where possible, but curvature must also be optimized to permit fast, but safe vehicle speeds. The more severe the curvature of the road, the slower the permissible vehicle speed. For route planning, whether for urban settings, emergency operations, or even parcel delivery, ROC is a necessary attribute of road arcs for computing travel time. It is extremely rare for a geo-spatial database to contain ROC. This paper will present a procedure and mathematical algorithm to calculate and assign ROC to a segment pair and/or polyline.

Keywords: linear features, radius-of-curvature, roads, routing, traffic, turning

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Authors: Mihails Kulikovs, Ernests Petersons

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Network management techniques have long been of interest to the networking research community. The queue size plays a critical role for the network performance. The adequate size of the queue maintains Quality of Service (QoS) requirements within limited network capacity for as many users as possible. The appropriate estimation of the queuing model parameters is crucial for both initial size estimation and during the process of resource allocation. The accurate resource allocation model for the management system increases the network utilization. The present paper demonstrates the results of empirical observation of memory allocation for packet-based services.

Keywords: Queuing System, Packet Loss Probability, Measurement-Based Admission Control (MBAC), Performanceevaluation, Quality of Service (QoS).

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Authors: Majid Mokhtarnia, Alireza Amini

Abstract:

Mobile operators deal with increasing in the data traffic as a critical issue. As a result, a vital responsibility of the operators is to deal with such a trend in order to create added values. This paper addresses a bundling method in a Canvas business model in a WiFi Data Offloading (WDO) strategy by which some elements of the model may be affected. In the proposed method, it is supposed to sell a number of data packages for subscribers in which there are some packages with a free given volume of data-offloaded WiFi complimentary. The paper on hands analyses this method in the views of attractiveness and profitability. The results demonstrate that the quality of implementation of the WDO strongly affects the final result and helps the decision maker to make the best one.

Keywords: Bundling, canvas business model, telecommunication, WiFi Data Offloading.

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Authors: Xu LiYun, Briand Florent, Fan GuoLiang

Abstract:

The loop-layout design problem (LLDP) aims at optimizing the sequence of positioning of the machines around the cyclic production line. Traffic congestion is the usual criteria to minimize in this type of problem, i.e. the number of additional cycles spent by each part in the network until the completion of its required routing sequence of machines. This paper aims at applying several improvements mechanisms such as a positioned-based crossover operator for the Genetic Algorithm (GA) called a Two Points Crossover (TPC) and an offspring selection process. The performance of the improved GA is measured using well-known examples from literature and compared to other evolutionary algorithms. Good results show that GA can still be competitive for this type of problem against more recent evolutionary algorithms.

Keywords: Crossover, genetic algorithm, layout design problem, loop-layout, manufacturing optimization.

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Authors: Quoc-Nam Tran, Anjib Mulepati

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Validation of an automation system is an important issue. The goal is to check if the system under investigation, modeled by a Petri net, never enters the undesired states. Usually, tools dedicated to Petri nets such as DESIGN/CPN are used to make reachability analysis. The biggest problem with this approach is that it is impossible to generate the full occurence graph of the system because it is too large. In this paper, we show how computational methods such as temporal logic model checking and Groebner bases can be used to verify the correctness of the design of an automation system. We report our experimental results with two automation systems: the Automated Guided Vehicle (AGV) system and the traffic light system. Validation of these two systems ranged from 10 to 30 seconds on a PC depending on the optimizing parameters.

Keywords: Computational Intelligence, Temporal Logic Reasoning, Model Checking, Groebner Bases.

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Authors: Jaroslav Polec, Viliam Hirner, Michal Martinovič, Kvetoslava Kotuliaková

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In this paper we present a novel error model for packet loss and subsequent error description. The proposed model simulates the error performance of wireless communication link. The model is designed as two independent Markov chains, where the first one is used for packet generation and the second one generates correctly and incorrectly transmitted bits for received packets from the first chain. The statistical analyses of real communication on the wireless link are used for determination of model-s parameters. Using the obtained parameters and the implementation of the generator, we collected generated traffic. The obtained results generated by proposed model are compared with the real data collection.

Keywords: Wireless channel, error model, Markov chain, Elliot model, Gilbert model, generator, IEEE 802.11.

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Authors: Rajkumar Samanta, Abhishek Pal

Abstract:

The demand of high quality services has fueled dimensional research and development in wireless communications and networking. As a result, different wireless technologies like Wireless LAN, CDMA, GSM, UMTS, MANET, Bluetooth and satellite networks etc. have emerged in the last two decades. Future networks capable of carrying multimedia traffic need IP convergence, portability, seamless roaming and scalability among the existing networking technologies without changing the core part of the existing communications networks. To fulfill these goals, the present networking systems are required to work in cooperation to ensure technological independence, seamless roaming, high security and authentication, guaranteed Quality of Services (QoS). In this paper, a conceptual framework for a cooperative network (CN) is proposed for integration of heterogeneous existing networks to meet out the requirements of the next generation wireless networks.

Keywords: Cooperative Network, Wireless Network, Integration.

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Authors: K. Raghuwaiya, S. Singh, B. Sharma, J. Vanualailai

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This paper presents a set of artificial potential field functions that improves upon, in general, the motion planning and posture control, with theoretically guaranteed point and posture stabilities, convergence and collision avoidance properties of 3-trailer systems in a priori known environment. We basically design and inject two new concepts; ghost walls and the distance optimization technique (DOT) to strengthen point and posture stabilities, in the sense of Lyapunov, of our dynamical model. This new combination of techniques emerges as a convenient mechanism for obtaining feasible orientations at the target positions with an overall reduction in the complexity of the navigation laws. The effectiveness of the proposed control laws were demonstrated via simulations of two traffic scenarios.

Keywords: Artificial potential fields, 3-trailer systems, motion planning, posture, parking and collision-free trajectories.

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