Search results for: service robots

Authors: Fei Peng, Jun Yuan, Chen Fan, Fan Jiang, Qian Sun, Yudi Liu

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Although Earth Station in Motion (ESIM) services are widely used and there is a huge market demand around the world, International Telecommunication Union (ITU) does not have unified conclusion for the use of ESIM yet. ESIM are Mobile Satellite Services (MSS) due to its mobile-based attributes, while multiple administrations want to use ESIM in Fixed Satellite Service (FSS). However, Radio Regulations (RR) have strict distinction between MSS and FSS. In this case, ITU has been very controversial because this kind of application will violate the RR Article and the conflict will bring risks to the global deployment. Thus, this paper illustrates the development of rules, regulations, standards concerning ESIM and the radio spectrum usage of ESIM in different regions around the world. Firstly, the basic rules, standard and definition of ITU’s Radiocommunication Sector (ITU-R) is introduced. Secondly, the World Radiocommunication Conference (WRC) agenda item on radio spectrum allocation for ESIM, e.g. in C/Ku/Ka band, is introduced and multi-view on the radio spectrum allocation is elaborated, especially on 19.7-20.2 GHz & 29.5-30.0 GHz. Then, some ITU-R Recommendations and Reports are analyzed on the specific technique to enable these ESIM to communicate with Geostationary Earth Orbit Satellite (GSO) space stations in the FSS without causing interference at levels in excess of that caused by conventional FSS earth stations. Meanwhile, the opposite opinion on not allocating EISM service in FSS frequency band is also elaborated. Finally, based on the ESIM’s future application, the ITU-R standards development trend is forecasted. In conclusion, using radio spectrum resource in an equitable, rational and efficient manner is the basic guideline of ITU. Although it is not a good approach to obstruct the revise of RR when there is a large demand for radio spectrum resource in satellite industry, still the propulsion and global demand of the whole industry may face difficulties on the unclear application in modify rules of RR.

Keywords: Earth Station in motion, ITU standards, radio regulations, radio spectrum, satellite communication.

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Authors: P. Vijaya Laxmi, V. Goswami, V. Suchitra

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This paper presents a finite buffer renewal input single working vacation and vacation interruption queue with state dependent services and state dependent vacations, which has a wide range of applications in several areas including manufacturing, wireless communication systems. Service times during busy period, vacation period and vacation times are exponentially distributed and are state dependent. As a result of the finite waiting space, state dependent services and state dependent vacation policies, the analysis of these queueing models needs special attention. We provide a recursive method using the supplementary variable technique to compute the stationary queue length distributions at pre-arrival and arbitrary epochs. An efficient computational algorithm of the model is presented which is fast and accurate and easy to implement. Various performance measures have been discussed. Finally, some special cases and numerical results have been depicted in the form of tables and graphs. 

Keywords: State Dependent Service, Vacation Interruption, Supplementary Variable, Single Working Vacation, Blocking Probability.

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Authors: Sašo Pečnik, Borut Žalik

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Cloud Computing is an approach that provides computation and storage services on-demand to clients over the network, independent of device and location. In the last few years, cloud computing became a trend in information technology with many companies that transfer their business processes and applications in the cloud. Cloud computing with service oriented architecture has contributed to rapid development of Geographic Information Systems. Open Geospatial Consortium with its standards provides the interfaces for hosted spatial data and GIS functionality to integrated GIS applications. Furthermore, with the enormous processing power, clouds provide efficient environment for data intensive applications that can be performed efficiently, with higher precision, and greater reliability. This paper presents our work on the geospatial data services within the cloud computing environment and its technology. A cloud computing environment with the strengths and weaknesses of the geographic information system will be introduced. The OGC standards that solve our application interoperability are highlighted. Finally, we outline our system architecture with utilities for requesting and invoking our developed data intensive applications as a web service.

Keywords: Cloud Computing, Geographic Information System, Open Geospatial Consortium, Interoperability, Spatial data, Web- Services.

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Authors: Dilip Kumar S.M, Vijaya Kumar B.P.

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The decisions made by admission control algorithms are based on the availability of network resources viz. bandwidth, energy, memory buffers, etc., without degrading the Quality-of-Service (QoS) requirement of applications that are admitted. In this paper, we present an energy-aware admission control (EAAC) scheme which provides admission control for flows in an ad hoc network based on the knowledge of the present and future residual energy of the intermediate nodes along the routing path. The aim of EAAC is to quantify the energy that the new flow will consume so that it can be decided whether the future residual energy of the nodes along the routing path can satisfy the energy requirement. In other words, this energy-aware routing admits a new flow iff any node in the routing path does not run out of its energy during the transmission of packets. The future residual energy of a node is predicted using the Multi-layer Neural Network (MNN) model. Simulation results shows that the proposed scheme increases the network lifetime. Also the performance of the MNN model is presented.

Keywords: Ad hoc networks, admission control, energy-aware routing, Quality-of-Service, future residual energy, neural network.

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Authors: M. S. R. Waas, S. G. U. S. Chandrarathne, U. A. Kumara

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The purpose of this quantitative study is to identify the impact of the destination attributes of Negombo on the coastal tourists’ visitor experience. As an island nation, Sri Lanka is identified and well renowned for its gold sandy beaches and natural scenic beauty. Among many tourist attractions, Negombo is identified as a developed beach centric tourist destination in the country. Yet, it is identified that there are low positive reviews on the internet for Negombo compared to other beach centric tourist attractions in Sri Lanka. Therefore, this study would help the policymakers and tourism service providers to identify the impact of destination attributes on international visitor satisfaction and to understand the visitors comprehensively so as to develop Negombo as a stable tourist destination while offering a memorable and satisfying experience for its visitors. In support, a self-administered questionnaire survey study was performed with 150 respondents (international tourists) in Negombo. The questions were designed based on the selected dimensions of destination attributes such as tourism service quality, infrastructure and superstructure developments, tourist information facilities and destination aesthetics and developments. The results showed that the overall satisfaction level of the international tourists who visit Sri Lanka is significantly affected by the destination attributes of Negombo. Yet, the dimensions of destination aesthetics and developments and tourist information facilities indicated a low level of mean satisfaction, paving the critique that Negombo as a beach centric tourist attraction is not serving well with its natural beauty and its destination management. Further, it is advocated that the policymakers and tourism service providers have a significant role in leading the way to attract more potential visitors to enhance their destination satisfaction and to encourage them to revisit Sri Lanka while recommending it to others. The survey was done during the off-peak season of the industry and it is suggested that the survey would have been conducted throughout a complete year.

Keywords: Destination attributes, coastal tourism, tourism development, tourist satisfaction.

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Authors: Dong-Hyun Kim, Jin-Woong Choi, Hyeong-Yeol Kim, Sun-Kyu Park

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This study is to evaluate the behavior of integral and segmental specimens through static and cyclic tests. Integral specimens were made with the same size to be compared with segmental specimens that were made by connected precast members. To evaluate its bending performance and serviceability, 1 integral and 3 segmental specimens were tested under static load. And 1 integral and 2 segmental specimens were tested under cyclic load, respectively. Different load ranges were considered in the cyclic tests to evaluate the safety and serviceability. The test results showed that under static loading, segmental specimens had about 94% of the integral specimen's maximum moment, averagely. Under cyclic loading, the segmental specimens showed that had enough safety in the range of higher than service load and enough serviceability. In conclusion, the maximum crack width (0.16mm) satisfied the allowable crack width (0.30mm) in the range of service load.

Keywords: Modular bridge, Transverse connection, Precast concrete, Static and cyclic test.

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Authors: Liwen Hou

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The booming mobile business has been penetrating the taxi industry worldwide with P2P (peer to peer) taxi services, as an emerging business model, transforming the industry. Parallel with other mobile businesses, member recommendations and online reviews are believed to be very effective with regard to acquiring new users for P2P taxi services. Based on an empirical dataset of the taxi industry in China, this study aims to reveal which factors influence users’ recommendations and review-writing behaviors. Differing from the existing literature, this paper takes the taxi driver’s perspective into consideration and hence selects a group of variables related to the drivers. We built two models to reflect the factors that influence the number of recommendations and reviews posted on the platform (i.e., the app). Our models show that all factors, except the driver’s score, significantly influence the recommendation behavior. Likewise, only one factor, passengers’ bad reviews, is insignificant in generating more drivers’ reviews. In the conclusion, we summarize the findings and limitations of the research.

Keywords: Online recommendation, P2P taxi service, review-writing, word of mouth.

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Authors: Anderson Rocha, Pedro Miguel de Figueiredo Dinis Oliveira Gaspar

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Machine vision has been widely used in recent years in agriculture, as a tool to promote the automation of processes and increase the levels of productivity. The aim of this work is the development of a path recognition algorithm based on image processing to guide a terrestrial robot in-between tree rows. The proposed algorithm was developed using the software MATLAB, and it uses several image processing operations, such as threshold detection, morphological erosion, histogram equalization and the Hough transform, to find edge lines along tree rows on an image and to create a path to be followed by a mobile robot. To develop the algorithm, a set of images of different types of orchards was used, which made possible the construction of a method capable of identifying paths between trees of different heights and aspects. The algorithm was evaluated using several images with different characteristics of quality and the results showed that the proposed method can successfully detect a path in different types of environments.

Keywords: Agricultural mobile robot, image processing, path recognition, Hough transform.

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Authors: Wanghongshu Zhou

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This study aims to explore the relationship between the second language motivational self-system (L2MSS) and the willingness to communicate (WTC) among Chinese non-English major students in order to provide pedagogical implications for English as a Foreign Language (EFL) classrooms in Chinese universities. By employing a mixed methods approach, we involved 103 Chinese non-English major students from a typical university in China, conducted questionnaire survey to measure their levels of L2WTC and L2MSS level, and then analyzed the correlation between the two above mentioned variables. Semi-structured interviews were conducted with eight participants to provide a deeper understanding and explanation of the questionnaire data. Findings show that 1) Chinese non-English major students’ ideal L2 self and L2 learning experience could positively predict their L2 WTC in EFL class; 2) Chinese non-English major students’ ought-to L2 self might have no significant impact on their L2 WTC in EFL class; and 3) self-confidence might be another main factor that will influence Chinese non-English major students’ L2 WTC in EFL class. These findings might shed light on the second language acquisition field and provide pedagogical recommendations for pre-service as well as in-service EFL teachers.

Keywords: Chinese non-English major students, L2 Motivation, L2 willingness to communicate, self-confidence.

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Authors: Paul Osmond

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This paper reports a new application of material accounting techniques to characterise and quantify material stocks and flows at the “neighbourhood" scale. The study area is the main campus of the University of New South Wales in Sydney, Australia. The system boundary is defined by the urban structural unit (USU), a typological construct devised to facilitate assessment of the metabolism of urban systems. A streamlined material flow analysis (MFA) was applied to quantify the stocks and flows of key construction materials within the campus USU over time, drawing on empirical data from a major campus development project. The results are reviewed to assess the efficacy of the method in supporting urban environmental evaluation and design practice, for example to facilitate estimation of significant impacts such as greenhouse gas emissions. It is concluded that linking a service (in this case, teaching students) enabled by a given product (university buildings) to the amount of materials used in creating that product offers a potential way to reduce the environmental impact of that service, through more efficient use of materials.

Keywords: Construction materials, material flow analysis, urban metabolism, urban structural unit.

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Authors: Daniel A. Montoya, Marta L. Tostes

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This investigation aims at analyzing and determining the relation between two very important variables in the human resource management: The organizational climate and the performance assessment. This study aims at contributing with knowledge in the search of the relation between the mentioned variables because the literature still does not provide solid evidence to this respect and the cases revised are incipient to reach conclusions enabling a typology about this relation.To this regard, a correlational and cross-sectional perspective was adopted in which quantitative and qualitative techniques were chosen with the total of the workers of the tourist service company PTS Peru. In order to measure the organizational climate, the OCQ (Organization Climate Questionnaire) from was used; it has 50 items and measures 9 dimensions of the Organizational Climate. Also, to assess performance, a questionnaire with 21 items and 6 dimensions was designed. As a means of assessment, a focus group was prepared and was applied to a worker in every area of the company. Additionally, interviews to human resources experts were conducted. The results of the investigation show a clear relation between the organizational climate and the personnel performance assessment as well as a relation between the nine dimensions of the organizational climate and the work performance in general and with some of its dimensions.

Keywords: Job performance, human resource management, organization climate, performance assessment.

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Authors: Vivek V, Hafeez Syed, Darren W Terrell, Harit Naik, Halliburton

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Applying a rigorous process to optimize the elements of a supply-chain network resulted in reduction of the waiting time for a service provider and customer. Different sources of downtime of hydraulic pressure controller/calibrator (HPC) were causing interruptions in the operations. The process examined all the issues to drive greater efficiencies. The issues included inherent design issues with HPC pump, contamination of the HPC with impurities, and the lead time required for annual calibration in the USA. HPC is used for mandatory testing/verification of formation tester/pressure measurement/logging-while drilling tools by oilfield service providers, including Halliburton. After market study andanalysis, it was concluded that the current HPC model is best suited in the oilfield industry. To use theexisting HPC model effectively, design andcontamination issues were addressed through design and process improvements. An optimum network is proposed after comparing different supply-chain models for calibration lead-time reduction.

Keywords: Hydraulic Pressure Controller/Calibrator, M/LWD, Pressure, FTWD

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Authors: Diganta Kumar Pathak, Manashjyoti Bhuyan, Vaskar Deka

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Vertical Handover(VHO) among different communication technologies ensuring uninterruption and service continuity is one of the most important performance parameter in Heterogenous networks environment. In an integrated Universal Mobile Telecommunicatin System(UMTS) and Wireless Local Area Network(WLAN), WLAN is given an inherent priority over UMTS because of its high data rates with low cost. Therefore mobile users want to be associated with WLAN maximum of the time while roaming, to enjoy best possible services with low cost. That encourages reduction of number of VHO. In this work the reduction of number of VHO with respect to varying number of WLAN Access Points(APs) in an integrated UMTS and WLAN network is investigated through simulation to provide best possible cost effective service to the users. The simulation has been carried out for an area (7800 × 9006)m2 where COST-231 Hata model and 3GPP (TR 101 112 V 3.1.0) specified models are used for WLAN and UMTS path loss models respectively. The handover decision is triggered based on the received signal level as compared to the fade margin. Fade margin gives a probabilistic measure of the reliability of the communication link. A relationship between number of WLAN APs and the number of VHO is also established in this work.

Keywords: VHO, UMTS, WLAN, MT, AP, BS.

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Authors: Ki-Sung Park, Dae-Hee Lee, Dae-Ho Won, Yeon-Mo Yang

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Solar power plants(SPPs) have shown a lot of good outcomes in providing a various functions depending on industrial expectations by deploying ad-hoc networking with helps of light loaded and battery powered sensor nodes. In particular, it is strongly requested to develop an algorithm to deriver the sensing data from the end node of solar power plants to the sink node on time. In this paper, based on the above observation we have proposed an IEEE802.15.4 based self routing scheme for solar power plants. The proposed beacon based priority routing Algorithm (BPRA) scheme utilizes beacon periods in sending message with embedding the high priority data and thus provides high quality of service(QoS) in the given criteria. The performance measures are the packet Throughput, delivery, latency, total energy consumption. Simulation results under TinyOS Simulator(TOSSIM) have shown the proposed scheme outcome the conventional Ad hoc On-Demand Distance Vector(AODV) Routing in solar power plants.

Keywords: Solar Power Plants(SPPs), Self routing, Quality of Service(QoS), WPANs, WSNs, TinyOS, TOSSIM, IEEE802.15.4

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Authors: K. Alese Boniface, K. Adu Michael

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Cybercrime is now becoming a big challenge in Nigeria apart from the traditional crime. Inability to identify perpetrators is one of the reasons for the growing menace. This paper proposes a design for monitoring internet users’ activities in order to curbing cybercrime. It requires redefining the operations of Internet Service Providers (ISPs) which will now mandate users to be authenticated before accessing the internet. In implementing this work which can be adapted to a larger scale, a virtual router application is developed and configured to mimic a real router device. A sign-up portal is developed to allow users to register with the ISP. The portal asks for identification information which will include bio-data and government issued identification data like National Identity Card number, et cetera. A unique username and password are chosen by the user to enable access to the internet which will be used to reference him to an Internet Protocol Address (IP Address) of any system he uses on the internet and thereby associating him to any criminal act related to that IP address at that particular time. Questions such as “What happen when another user knows the password and uses it to commit crime?” and other pertinent issues are addressed.

Keywords: Cybercrime, Sign-up Portal, Internet Service Provider (ISP), Internet Protocol Address (IP address).

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Authors: Z. Asadi-Shekari, M. Moeinaddini, M. Zaly Shah, A. Hamzah

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Bicycle Level of Service (BLOS) is a measure for evaluating street conditions for cyclists. Currently, various methods are proposed for BLOS. These analytical methods however have some drawbacks: they usually assume cyclists as users that can share street facilities with motorized vehicles, it is not easy to link them to design process and they are not easy to follow. In addition, they only support a narrow range of cycling facilities and may not be applicable for all situations. Along this, the current paper introduces various effective design factors for bicycle-friendly streets. This study considers cyclists as users of streets who have special needs and facilities. Therefore, the key factors that influence BLOS based on different cycling facilities that are proposed by developed guidelines and literature are identified. The combination of these factors presents a complete set of effective design factors for bicycle-friendly streets. In addition, the weight of each factor in existing BLOS models is estimated and these effective factors are ranked based on these weights. These factors and their weights can be used in further studies to propose special bicycle-friendly street design model.

Keywords: Bicycle level of service, bicycle-friendly streets, cycling facilities, rating system, urban streets.

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Authors: Boguslaw Schreyer

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The paper investigates the application of the Kohonen’s Self-Organizing Map (SOM) to the wheeled robot starting and braking dynamic states. In securing wheeled robot stability as well as minimum starting and braking time, it is important to ensure correct torque distribution as well as proper slope of braking and driving moments. In this paper, a correct movement distribution has been formulated, securing optimum adhesion coefficient and good transversal stability of a wheeled robot. A neural tuner has been proposed to secure the above properties, although most of the attention is attached to the SOM network application. If the delay of the torque application or torque release is not negligible, it is important to change the rising and falling slopes of the torque. The road/surface condition is also paramount in robot dynamic states control. As the road conditions may randomly change in time, application of the SOM network has been suggested in order to classify the actual road conditions.

Keywords: SOM network, torque distribution, torque slope, wheeled robots.

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Authors: Yao-Tien Wang, Hsiang-Fu Yu, Dung Chen Chiou

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In wireless and mobile communications, this progress provides opportunities for introducing new standards and improving existing services. Supporting multimedia traffic with wireless networks quality of service (QoS). In this paper, a grey-fuzzy controller for radio resource management (GF-RRM) is presented to maximize the number of the served calls and QoS provision in wireless networks. In a wireless network, the call arrival rate, the call duration and the communication overhead between the base stations and the control center are vague and uncertain. In this paper, we develop a method to predict the cell load and to solve the RRM problem based on the GF-RRM, and support the present facility has been built on the application-level of the wireless networks. The GF-RRM exhibits the better adaptability, fault-tolerant capability and performance than other algorithms. Through simulations, we evaluate the blocking rate, update overhead, and channel acquisition delay time of the proposed method. The results demonstrate our algorithm has the lower blocking rate, less updated overhead, and shorter channel acquisition delay.

Keywords: radio resource management, grey prediction, fuzzylogic control, wireless networks, quality of service.

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Authors: Nieto Bernal W., Luna Amaya C.

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This paper aims to present a framework for the organizational knowledge management, which seeks to deploy a standardized structure for the integrated management of knowledge is a common language based on domains, processes and global indicators inspired by the COBIT framework 5 (ISACA, 2012), which supports the integration of three technologies, enterprise information architecture (EIA), the business process modeling (BPM) and service-oriented architecture (SOA). The Gomak Framework is a management platform that seeks to integrate the information technology infrastructure, the structure of applications, information infrastructure, and business logic and business model to support a sound strategy of organizational knowledge management, low process-based approach and concurrent engineering. Concurrent engineering (CE) is a systematic approach to integrated product development that respond to customer expectations, involving all perspectives in parallel, from the beginning of the product life cycle. (European Space Agency, 2000).

Keywords: Business Process Modeling, Enterprise Information Architecture, Government and Knowledge Management, Service Oriented Architecture, Process Management.

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Authors: Bongsoo Jeon, Jayoung Kim, Jihong Lee

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Methods for measuring or estimating ground shape by a laser range finder and a vision sensor (Exteroceptive sensors) have critical weaknesses in terms that these methods need a prior database built to distinguish acquired data as unique surface conditions for driving. Also, ground information by Exteroceptive sensors does not reflect the deflection of ground surface caused by the movement of UGVs. Therefore, this paper proposes a method of recognizing exact and precise ground shape using an Inertial Measurement Unit (IMU) as a proprioceptive sensor. In this paper, firstly this method recognizes the attitude of a robot in real-time using IMU and compensates attitude data of a robot with angle errors through analysis of vehicle dynamics. This method is verified by outdoor driving experiments of a real mobile robot.

Keywords: Inertial Measurement Unit, Laser Range Finder, Real-time recognition of the ground shape.

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Authors: M. Victor Jose, V. Seenivasagam

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This paper proposes a cost-effective private grid using Object-based Grid Architecture (OGA). In OGA, the data process privacy and inter communication are increased through an object- oriented concept. The limitation of the existing grid is that the user can enter or leave the grid at any time without schedule and dedicated resource. To overcome these limitations, cost-effective private grid and appropriate algorithms are proposed. In this, each system contains two platforms such as grid and local platforms. The grid manager service running in local personal computer can act as grid resource. When the system is on, it is intimated to the Monitoring and Information System (MIS) and details are maintained in Resource Object Table (ROT). The MIS is responsible to select the resource where the file or the replica should be stored. The resource storage is done within virtual single private grid nodes using random object addressing to prevent stolen attack. If any grid resource goes down, then the resource ID will be removed from the ROT, and resource recovery is efficiently managed by the replicas. This random addressing technique makes the grid storage a single storage and the user views the entire grid network as a single system.

Keywords: Object Grid Architecture, Grid Manager Service, Resource Object table, Random object addressing, Object storage, Dynamic Object Update.

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Authors: Yuji Waizumi, Tohru Sato, Yoshiaki Nemoto

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Recently, Denial of Service(DoS) attacks and Distributed DoS(DDoS) attacks which are stronger form of DoS attacks from plural hosts have become security threats on the Internet. It is important to identify the attack source and to block attack traffic as one of the measures against these attacks. In general, it is difficult to identify them because information about the attack source is falsified. Therefore a method of identifying the attack source by tracing the route of the attack traffic is necessary. A traceback method which uses traffic patterns, using changes in the number of packets over time as criteria for the attack traceback has been proposed. The traceback method using the traffic patterns can trace the attack by matching the shapes of input traffic patterns and the shape of output traffic pattern observed at a network branch point such as a router. The traffic pattern is a shapes of traffic and unfalsifiable information. The proposed trace methods proposed till date cannot obtain enough tracing accuracy, because they directly use traffic patterns which are influenced by non-attack traffics. In this paper, a new traffic pattern matching method using Independent Component Analysis(ICA) is proposed.

Keywords: Distributed Denial of Service, Independent Component Analysis, Traffic pattern

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Authors: Levan Sabauri

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Audit is an independent inspection of the financial statement of the audited person and expresses the opinion of an auditor on the reliability of this statement. The auditor’s activity (auditor’s service) is realized by auditing organizations, individual auditors in connection to conduction of an audit and rendering of audit accompanying services. The profession of auditor means a high level of responsibility for rendered service. Results of decisions made by information users depend on the quality of the auditor’s conclusion. Owners, investors, creditors, and society rely on the opinion of the auditor under the condition that inspection was conducted with good quality. Therefore, the existence of the well-functioning audit quality control system for the administering of the audit is an important issue. An efficient audit quality control system is a substantial challenge that many countries face worldwide, especially those states where these systems are being formed within the respective reform program. The presented article reflects on the best practices of the leading countries, the assumptions and recommendations for the financial accounting, reporting and audit; current reforms in Georgia are made based on this comparative analysis.

Keywords: Audit quality control, audit program, financial statement, perspective analysis.

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Authors: Abdullah M. Almeshal, Mohammad R. Alenezi, Talal H. Alzanki

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This paper presents a hybrid fuzzy logic control strategy for a unicycle trajectory following robot on irregular terrains. In literature, researchers have presented the design of path tracking controllers of mobile robots on non-frictional surface. In this work, the robot is simulated to drive on irregular terrains with contrasting frictional profiles of peat and rough gravel. A hybrid fuzzy logic controller is utilised to stabilise and drive the robot precisely with the predefined trajectory and overcome the frictional impact. The controller gains and scaling factors were optimised using spiral dynamics optimisation algorithm to minimise the mean square error of the linear and angular velocities of the unicycle robot. The robot was simulated on various frictional surfaces and terrains and the controller was able to stabilise the robot with a superior performance that is shown via simulation results.

Keywords: Fuzzy logic control, mobile robot, trajectory tracking, spiral dynamic algorithm.

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Authors: Sultan Alotaibi, Dmitri Roussinov

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Many governments recently started to change the ways of providing their services by allowing their citizens to access services from anywhere without the need of visiting the location of the service provider. Mobile government (M-government) is one of the techniques that fulfill that goal. It has been adopted by many governments. M-government can be defined as an implementation of Electronic Government (E-Government) by using mobile technology with the aim of improving service delivery to citizens, businesses and all government agencies. There have been several research projects developing models to understand the behavior of individuals towards the adoption of m-government. This paper proposes a model for adoption of m-government services in Saudi Arabia by extending Technology Acceptance Model (TAM) by introducing external factors. This paper also reports on the development of a survey instrument designed to measure user perception of mobile government acceptance. A survey instrument has been developed by using existing scales from prior instruments and a pilot study has been conducted by distributing the survey to 33 participants. As a result, a survey instrument has been refined to retain 43 items. The results also showed that the reliabilities of all the scales in the survey instrument are above the levels acceptable in current academic research, thus the instruments developed by us are capable of analyzing the factors in M-government adoption.

Keywords: TAM, m-government, e-government, model, acceptance.

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Authors: Azamossadat Nourbakhsh, Moharram Habibnezhad Korayem

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In the visual servoing systems, the data obtained by Visionary is used for controlling robots. In this project, at first the simulator which was proposed for simulating the performance of a 6R robot before, was examined in terms of software and test, and in the proposed simulator, existing defects were obviated. In the first version of simulation, the robot was directed toward the target object only in a Position-based method using two cameras in the environment. In the new version of the software, three cameras were used simultaneously. The camera which is installed as eye-inhand on the end-effector of the robot is used for visual servoing in a Feature-based method. The target object is recognized according to its characteristics and the robot is directed toward the object in compliance with an algorithm similar to the function of human-s eyes. Then, the function and accuracy of the operation of the robot are examined through Position-based visual servoing method using two cameras installed as eye-to-hand in the environment. Finally, the obtained results are tested under ANSI-RIA R15.05-2 standard.

Keywords: 6R Robot , camera, visual servoing, Feature-based visual servoing, Position-based visual servoing, Performance tests.

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Authors: Alexander Winkler, Jozef Suchý

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This paper investigates simple implicit force control algorithms realizable with industrial robots. A lot of approaches already published are difficult to implement in commercial robot controllers, because the access to the robot joint torques is necessary or the complete dynamic model of the manipulator is used. In the past we already deal with explicit force control of a position controlled robot. Well known schemes of implicit force control are stiffness control, damping control and impedance control. Using such algorithms the contact force cannot be set directly. It is further the result of controller impedance, environment impedance and the commanded robot motion/position. The relationships of these properties are worked out in this paper in detail for the chosen implicit approaches. They have been adapted to be implementable on a position controlled robot. The behaviors of stiffness control and damping control are verified by practical experiments. For this purpose a suitable test bed was configured. Using the full mechanical impedance within the controller structure will not be practical in the case when the robot is in physical contact with the environment. This fact will be verified by simulation.

Keywords: Damping control, impedance control, robot force control, stability, stiffness control.

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Authors: Mariam Vardiashvili

Abstract:

The economic value of the asset impairment process is quite large. Impairment reflects the reduction of future economic benefits or service potentials itemized in the asset. The assets owned by public sector entities bring economic benefits or are used for delivery of the free-of-charge services. Consequently, they are classified as cash-generating and non-cash-generating assets. IPSAS 21 - Impairment of non-cash-generating assets, and IPSAS 26 - Impairment of cash-generating assets, have been designed considering this specificity.  When measuring impairment of assets, it is important to select the relevant methods. For measurement of the impaired Non-Cash-Generating Assets, IPSAS 21 recommends three methods: Depreciated Replacement Cost Approach, Restoration Cost Approach, and  Service Units Approach. Impairment of Value in Use of Cash-Generating Assets (according to IPSAS 26) is measured by discounted value of the money sources to be received in future. Value in use of the cash-generating asserts (as per IPSAS 26) is measured by the discounted value of the money sources to be received in the future. The article provides classification of the assets in the public sector  as non-cash-generating assets and cash-generating assets and, deals also with the factors which should be considered when evaluating  impairment of assets. An essence of impairment of the non-financial assets and the methods of measurement thereof evaluation are formulated according to IPSAS 21 and IPSAS 26. The main emphasis is put on different methods of measurement of the value in use of the impaired Cash-Generating Assets and Non-Cash-Generation Assets and the methods of their selection. The traditional and the expected cash flow approaches for calculation of the discounted value are reviewed. The article also discusses the issues of recognition of impairment loss and its reflection in the financial reporting. The article concludes that despite a functional purpose of the impaired asset, whichever method is used for measuring the asset, presentation of realistic information regarding the value of the assets should be ensured in the financial reporting. In the theoretical development of the issue, the methods of scientific abstraction, analysis and synthesis were used. The research was carried out with a systemic approach. The research process uses international standards of accounting, theoretical researches and publications of Georgian and foreign scientists.

Keywords: Non-cash-generating assets, cash-generating assets, recoverable value, recoverable service amount, value in use.

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Authors: Gunther Reinhart, Marwan Radi

Abstract:

Since the 1940s, many promising telepresence research results have been obtained. However, telepresence technology still has not reached industrial usage. As human intelligence is necessary for successful execution of most manual assembly tasks, the ability of the human is hindered in some cases, such as the assembly of heavy parts of small/medium lots or prototypes. In such a case of manual assembly, the help of industrial robots is mandatory. The telepresence technology can be considered as a solution for performing assembly tasks, where the human intelligence and haptic sense are needed to identify and minimize the errors during an assembly process and a robot is needed to carry heavy parts. In this paper, preliminary steps to integrate the telepresence technology into industrial robot systems are introduced. The system described here combines both, the human haptic sense and the industrial robot capability to perform a manual assembly task remotely using a force feedback joystick. Mapping between the joystick-s Degrees of Freedom (DOF) and the robot-s ones are introduced. Simulation and experimental results are shown and future work is discussed.

Keywords: Assembly, Force Feedback, Industrial Robot, Teleassembly, Telepresence.

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Authors: Kuo-Yang Cheng, Yi-Lun Pan, Chang-Hsing Wu, His-En Yu, Hui-Shan Chen, Weicheng Huang

Abstract:

The main mission of Ezilla is to provide a friendly interface to access the virtual machine and quickly deploy the high performance computing environment. Ezilla has been developed by Pervasive Computing Team at National Center for High-performance Computing (NCHC). Ezilla integrates the Cloud middleware, virtualization technology, and Web-based Operating System (WebOS) to form a virtual computer in distributed computing environment. In order to upgrade the dataset and speedup, we proposed the sensor observation system to deal with a huge amount of data in the Cassandra database. The sensor observation system is based on the Ezilla to store sensor raw data into distributed database. We adopt the Ezilla Cloud service to create virtual machines and login into virtual machine to deploy the sensor observation system. Integrating the sensor observation system with Ezilla is to quickly deploy experiment environment and access a huge amount of data with distributed database that support the replication mechanism to protect the data security.

Keywords: Cloud, Virtualization, Cassandra, WebOS

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