Search results for: health and safety at work

Authors: Onder Yakut, Serdar Solak, Emine Dogru Bolat

Abstract:

Measuring the Electrocardiogram (ECG) signal is an essential process for the diagnosis of the heart diseases. The ECG signal has the information of the degree of how much the heart performs its functions. In medical diagnosis and treatment systems, Decision Support Systems processing the ECG signal are being developed for the use of clinicians while medical examination. In this study, a modular wireless ECG (WECG) measuring and recording system using a single board computer and e-Health sensor platform is developed. In this designed modular system, after the ECG signal is taken from the body surface by the electrodes first, it is filtered and converted to digital form. Then, it is recorded to the health database using Wi-Fi communication technology. The real time access of the ECG data is provided through the internet utilizing the developed web interface.

Keywords: ECG, e-health sensor shield, raspberry Pi, wifi technology.

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Authors: H. Elbehiery, A. Hefnawy, M. Elewa

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Quality control in ceramic tile manufacturing is hard, labor intensive and it is performed in a harsh industrial environment with noise, extreme temperature and humidity. It can be divided into color analysis, dimension verification, and surface defect detection, which is the main purpose of our work. Defects detection is still based on the judgment of human operators while most of the other manufacturing activities are automated so, our work is a quality control enhancement by integrating a visual control stage using image processing and morphological operation techniques before the packing operation to improve the homogeneity of batches received by final users.

Keywords: Quality control, Defects detection, Visual control, Image processing, Morphological operation

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Authors: F. Tajarrod, G. Latif-Shabgahi

Abstract:

Fault tree analysis is a well-known method for reliability and safety assessment of engineering systems. In the last 3 decades, a number of methods have been introduced, in the literature, for automatic construction of fault trees. The main difference between these methods is the starting model from which the tree is constructed. This paper presents a new methodology for the construction of static and dynamic fault trees from a system Simulink model. The method is introduced and explained in detail, and its correctness and completeness is experimentally validated by using an example, taken from literature. Advantages of the method are also mentioned.

Keywords: Fault tree, Simulink, Standby Sparing and Redundancy

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Authors: Mubina Nazmeen, Iram Rubab

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Formal Specification languages are being widely used for system specification and testing. Highly critical systems such as real time systems, avionics, and medical systems are represented using Formal specification languages. Formal specifications based testing is mostly performed using black box testing approaches thus testing only the set of inputs and outputs of the system. The formal specification language such as VDMµ can be used for white box testing as they provide enough constructs as any other high level programming language. In this work, we perform data and control flow analysis of VDMµ class specifications. The proposed work is discussed with an example of SavingAccount.

Keywords: VDM-SL, VDMµ, data flow graph, control flowgraph, testing, formal specification.

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Authors: Rade Ciric, Sasa Mandic

Abstract:

Students of Higher Education Technical School of Professional Studies in Novi Sad follow the subject ‘Maintenance of Electric Power Equipment’ at the Electrotechnical Department. This paper presents educational plan and program of the subject Maintenance of Electric Power Equipment. The course deals with the problems of preventive and investing maintenance of transformer stations (TS), performing and maintenance of grounding of TS and pillars, as well as tracing and detection the location of the cables failure. There is a special elaborated subject concerning the safe work conditions for the electrician during network maintenance, as well as the basics of making and keeping technical documentation of the equipment.

Keywords: Educational plan and program, electric power equipment, maintenance, technical documentation, safe work.

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Authors: Suparat Niwitpong, Sa-aat Niwitpong

Abstract:

In this paper we proposed the new confidence interval for the normal population mean with known coefficient of variation. In practice, this situation occurs normally in environment and agriculture sciences where we know the standard deviation is proportional to the mean. As a result, the coefficient of variation of is known. We propose the new confidence interval based on the recent work of Khan [3] and this new confidence interval will compare with our previous work, see, e.g. Niwitpong [5]. We derive analytic expressions for the coverage probability and the expected length of each confidence interval. A numerical method will be used to assess the performance of these intervals based on their expected lengths.

Keywords: confidence interval, coverage probability, expected length, known coefficient of variation.

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Authors: Omid Pourabdollah, Mohsen Misaghian

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Overtopping is known as one the most important reasons for the failure of earth dams. In some cases, it has resulted in heavy damages and losses. Therefore, enhancing the safety of earth dams against overtopping has received much attention in the past four decades. In this paper, at first, the overtopping phenomena and its destructive consequences will be introduced. Then, overtopping failure mechanism of embankments will be described. Finally, different types of protection systems for stabilization of earth dams against overtopping will be presented. These include timber cribs, riprap and gabions, reinforced earth, roller compacted concrete, and the precast concrete blocks.

Keywords: Embankment dam, overtopping, roller compacted concrete, wedge concrete block.

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Authors: F. Lievens, M. Jordanova

Abstract:

Telemedicine is brought to life by contemporary changes of our world and summarizes the entire range of services that are at the crossroad of traditional healthcare and information technology. It is believed that eHealth can help in solving critical issues of rising costs, care for ageing and housebound population, staff shortage. It is a feasible tool to provide routine as well as specialized health service as it has the potential to improve both the access to and the standard of care. eHealth is no more an optional choice. It has already made quite a way but it still remains a fantastic challenge for the future requiring cooperation and coordination at all possible levels. The strategic objectives of this paper are: 1. To start with an attempt to clarify the mass of terms used nowadays; 2. To answer the question “Who needs eHealth"; 3. To focus on the necessity of bridging telemedicine and medical (health) informatics as well as on the dual relationship between them; as well as 4. To underline the need of networking in understanding, developing and implementing eHealth.

Keywords: E-Health/telemedicine, networking, medical informatics.

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Authors: F. Demir, A. S. Kipcak, O. Dere Ozdemir, E. Moroydor Derun, S. Piskin

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Fruit juices play important roles in human health as being a key part of nutrition. Juice and nectar are two categories of drinks with so many variations for consumers, regardless of age, lifestyle and taste preferences, which they can find their favorites. Juices contain 100% pulp when pulp content of ‘nectar’ changes between 25%-50%. In this study, potassium (K), magnesium (Mg), and phosphorus (P) contents in orange juice and nectar is determined for conscious consumption. For this purpose inductively coupled plasma optical emission spectrometry (ICP-OES) is used to find out potassium (K), magnesium (Mg), and phosphorus (P) contents in orange juices and nectar. Furthermore, the daily intake of elements from orange juice and nectar that affects human health is also investigated. From the results of experiments K, Mg and P contents are found in orange juice as 1351; 73,25; 89,27 ppm and in orange nectar as 986; 33,76; 51,30 respectively.

Keywords: Orange juice, nectar, ICP-OES, element.

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Authors: C. P. Parente, M. J. Reis Lima, E. Teixeira-Lemos, M. M. Moreira, Aquiles A. Barros, Luís F. Guido

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Broccoli has been widely recognized as a wealthy vegetable which contains multiple nutrients with potent anti-cancer properties. Lamb’s lettuce has been used as food for many centuries but only recently became commercially available and literature is therefore exiguous concerning these vegetables. The aim of this work was to evaluate the influence of the extraction conditions on the yield of phenolic compounds and the corresponding antioxidant capacity of broccoli and lamb’s lettuce. The results indicate that lamb’s lettuce, compared to broccoli, contains simultaneously a large amount of total polyphenols as well as high antioxidant activity. It is clearly demonstrated that extraction solvent significantly influences the antioxidant activity. Methanol is the solvent that can globally maximize the antioxidant extraction yield. The results presented herein prove lamb’s lettuce as a very interesting source of polyphenols, and thus a potential health-promoting food.

Keywords: Broccoli, lamb’s lettuce, extraction, antioxidant activity, phenolic compounds.

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Authors: Chris Landorf, Stephen Ward

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This paper addresses a virtual environment approach to work integrated learning for students in construction-related disciplines. The virtual approach provides a safe and pedagogically rigorous environment where students can apply theoretical knowledge in a simulated real-world context. The paper describes the development of a 4-dimensional digital construction environment and associated learning activities funded by the Australian Office for Learning and Teaching. The environment was trialled with over 1,300 students and evaluated through questionnaires, observational studies and coursework analysis. Results demonstrate a positive impact on students’ technical learning and collaboration skills, but there is need for further research in relation to critical thinking skills and work-readiness.

Keywords: Architectural education, construction industry, digital learning environments, immersive learning.

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Authors: Marcello Bettoni

Abstract:

As a learning theory tries to borrow from science a framework to found its method, it shows paradoxes and paralysing contraddictions. This results, on one hand, from adopting a learning/teaching model as it were a mere “transfer of data" (mechanical learning approach), and on the other hand from borrowing the complexity theory (an indeterministic and non-linear model), that risks to vanish every educational effort. This work is aimed at describing existing criticism, unveiling the antinomic nature of such paradoxes, focussing on a view where neither the mechanical learning perspective nor the chaotic and nonlinear model can threaten and jeopardize the educational work. Author intends to go back over the steps that led to these paradoxes and to unveil their antinomic nature. Actually this could serve the purpose to explain some current misunderstandings about the real usefulness of Ict within the youth-s learning process and growth.

Keywords: Antinomy, complexity, Leibniz, paradox

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Authors: Chien-Hua Wang, Meng-Ying Chou, Chin-Tzong Pang

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This paper applies fuzzy AHP to evaluate the service quality of online auction. Service quality is a composition of various criteria. Among them many intangible attributes are difficult to measure. This characteristic introduces the obstacles for respondents on reply in the survey. So as to overcome this problem, we invite fuzzy set theory into the measurement of performance and use AHP in obtaining criteria. We found the most concerned dimension of service quality is Transaction Safety Mechanism and the least is Charge Item. Other criteria such as information security, accuracy and information are too vital.

Keywords: Fuzzy set theory, AHP, Online auction, Service quality

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Authors: Abolfazl Mohammadijoo

Abstract:

In this paper, we are investigating sliding mode control approach for trajectory tracking of a two-link-manipulator with wheeled mobile robot in its base. The main challenge of this work is dynamic interaction between mobile base and manipulator which makes trajectory tracking more difficult than n-link manipulators with fixed base. Another challenging part of this work is to avoid chattering phenomenon of sliding mode control that makes lots of damages for actuators in real industrial cases. The results show the effectiveness of sliding mode control approach for desired trajectory.

Keywords: Mobile manipulator, sliding mode control, dynamic interaction, mobile robotics.

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Authors: Aba-Carina Pârlog

Abstract:

The paper shows that on transferring sense from the SL to the TL, the translator’s reading against the grain determines the creation of a faulty pattern of rendering the original meaning in the receiving culture which reflects the use of misleading transformative codes. In this case, the translator is a writer per se who decides what goes in and out of the book, how the style is to be ciphered and what elements of ideology are to be highlighted. The paper also proves that figurative language must not be flattened for the sake of clarity or naturalness. The missing figurative elements make the translated text less interesting, less challenging and less vivid which reflects poorly on the writer. There is a close connection between style and the writer’s person. If the writer’s style is very much altered in a translation, the translation is useless as the original writer and his / her imaginative world can no longer be discovered. The purpose of the paper is to prove that adaptation is a dangerous tool which leads to variants that sometimes reflect the original less than the reader would wish to. It contradicts the very essence of the process of translation which is that of making an original work available in a foreign language. If the adaptive transformative codes are so flexible that they encourage the translator to repeatedly leave out parts of the original work, then a subversive pattern emerges which changes the entire book. In conclusion, as a result of using adaptation, manipulative or subversive effects are created in the translated work. This is generally achieved by adding new words or connotations, creating new figures of speech or using explicitations. The additional meanings of the original work are neglected and the translator creates new meanings, implications, emphases and contexts. Again s/he turns into a new author who enjoys the freedom of expressing his / her own ideas without the constraints of the original text. Reading against the grain is unadvisable during the process of translation and consequently, following personal common sense becomes essential in the field of translation as well as everywhere else, so that translation should not become a source of fantasy.

Keywords: Speculative aesthetics, substance of expression, transformative code, translation.

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Authors: Nathan C. Lea, Tony Austin, Stephen Hailes, Dipak Kalra

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This paper introduces a tool that is being developed for the expression of information security policy controls that govern electronic healthcare records. By reference to published findings, the paper introduces the theory behind the use of knowledge management for automatic and consistent security policy assertion using the formalism called the Secutype; the development of the tool and functionality is discussed; some examples of Secutypes generated by the tool are provided; proposed integration with existing medical record systems is described. The paper is concluded with a section on further work and critique of the work achieved to date.

Keywords: Information Security Policy, Electronic Healthcare Records, Knowledge Management, Archetypes, Secutypes.

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Authors: A. Bazoula, H. Maaref

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In this article we address the problem of mobile robot formation control. Indeed, the most work, in this domain, have studied extensively classical control for keeping a formation of mobile robots. In this work, we design an FLC (Fuzzy logic Controller) controller for separation and bearing control (SBC). Indeed, the leader mobile robot is controlled to follow an arbitrary reference path, and the follower mobile robot use the FSBC (Fuzzy Separation and Bearing Control) to keep constant relative distance and constant angle to the leader robot. The efficiency and simplicity of this control law has been proven by simulation on different situation.

Keywords: Autonomous mobile robot, Formation control, Fuzzy logic control, Multiple robots, Leader-Follower.

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Authors: A. G. Margaryan

Abstract:

Aims and Objectives: Assessment of health status and detection disorders of external respiration functions (ERF) during preventative medical examination among physicians of Armenia. Subjects and Methods: Overall, fifty-nine physicians (17 men and 42 women) were examined and spirometry was carried out. The average age of the physicians was 50 years old. The studies were conducted on the Micromedical MicroLab 3500 Spirometer. Results: 25.4% among 59 examined physicians are overweight; 22.0% of them suffer from obesity. Two physicians are currently smokers. About half of the examined physicians (50.8%) at the time of examination were diagnosed with some diseases and had different health-related problems (excluding the problems related to vision and hearing). FVC was 2.94±0.1, FEV1 – 2.64±0.1, PEF – 329.7±19.9, and FEV₁%/FVC – 89.7±1.3. Pathological changes of ERF are identified in 23 (39.0%) cases. 28.8% of physicians had first degree of restrictive disorders, 3.4% – first degree of combined obstructive/ restrictive disorders, 6.8% – second degree of combined obstructive/ restrictive disorders. Only three physicians with disorders of the ERF were diagnosed with chronic bronchitis and bronchial asthma. There were no statistically significant changes in ERF depending on the severity of obesity (P> 0.05). Conclusion: The study showed the prevalence of ERF among physicians, observing mainly mild and moderate changes in ERF parameters.

Keywords: Armenia, external respiration function, health status, physicians.

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Authors: Santosh Kr. Choudhary

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In this paper, fractional order feedback control of a ball beam model is investigated. The ball beam model is a particular example of the double Integrator system having strongly nonlinear characteristics and unstable dynamics which make the control of such system a challenging task. Most of the work in fractional order control systems are in theoretical nature and controller design and its implementation in practice is very small. In this work, a successful attempt has been made to design a fractional order PIλDμcontroller for a benchmark laboratory ball and beam model. Better performance can be achieved using a fractional order PID controller and it is demonstrated through simulations results with a comparison to the classic PID controller.

Keywords: Fractional order calculus, fractional order controller, fractional order system, ball and beam system, PIλDμ controller, modelling, simulation.

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Authors: Merita Dauti, Edita Alili-Idrizi, Sihana Ahmeti–Lika, Ledjan Malaj

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The extermination and proper disposal of pharmaceutical wastes from expired and unused medications remains a disputable issue due to their specific nature and characteristics. Even though the hazards from these wastes are already well known in terms of environment and human health, people still treat them as usual wastes. At a national level, in many countries the management of pharmaceutical and medical wastes has been one of the main objectives in order to protect people’s health and the environment. Even though many legal regulations exist in this respect, there has not been a single law that would clearly explain the procedures of returning medicines, ways of selection, treatment and extermination of pharmaceutical wastes. This paper aims at analyzing the practices of pharmaceutical waste management and treatment in some European countries as well as a review of the legislation and official guidelines in managing these kinds of wastes and protecting the environment and human health. A suitable treatment and management of expired medications and other similar wastes would be in the interest of public health in the first place, as well as in the interest of healthcare institutions and other bodies engaged in environment protection.

Keywords: Pharmaceutical waste, legal regulation, proper disposal, environment pollution.

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Authors: L. Kučerová, M. Bystrianský, V. Kotěšovec

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Thermo-mechanical processing with various processing parameters was applied to 0.2%C-0.6%Mn-2S%i-0.8%Cr low alloyed high strength steel. The aim of the processing was to achieve the microstructures typical for transformation induced plasticity (TRIP) steels. Thermo-mechanical processing used in this work incorporated two or three deformation steps. The deformations were in all the cases carried out during the cooling from soaking temperatures to various bainite hold temperatures. In this way, 4-10% of retained austenite were retained in the final microstructures, consisting further of ferrite, bainite, martensite and pearlite. The complex character of TRIP steel microstructure is responsible for its good strength and ductility. The strengths achieved in this work were in the range of 740 MPa – 836 MPa with ductility A_5mm of 31-41%.

Keywords: Pearlite, retained austenite, thermo-mechanical treatment, TRIP steel.

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Authors: Dongsu Wu, Hongbin Gu

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A motion protection system is designed for a parallel motion platform with subsided cabin. Due to its complex structure, parallel mechanism is easy to encounter interference problems including link length limits, joints limits and self-collision. Thus a virtual spring algorithm in operational space is developed for the motion protection system to avoid potential damages caused by interference. Simulation results show that the proposed motion protection system can effectively eliminate interference problems and ensure safety of the whole motion platform.

Keywords: Motion protection, motion platform, parallelmechanism, Stewart platform, collision avoidance.

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Authors: Olesia Mikhailova, Pavel Rovnaník

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In the present work, metakaolin-based geopolymer including different polymer admixtures was studied. Different types of commercial polymer admixtures VINNAPAS^® and polyethylene glycol of different relative molecular weight were used as polymer admixtures. The main objective of this work is to investigate the influence of different types of admixtures on the properties of metakaolin-based geopolymer mortars considering their different dosage. Mechanical properties, such as flexural and compressive strength were experimentally determined. Also, study of the microstructure of selected specimens by using a scanning electron microscope was performed. The results showed that the specimen with addition of 1.5% of VINNAPAS^® 7016 F and 10% of polyethylene glycol 400 achieved maximum mechanical properties.

Keywords: Metakaolin, geopolymer, polymer admixtures, mechanical properties, microstructure.

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Authors: Mousmita Sarma, Krishna Dutta, Kandarpa Kumar Sarma

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Speech corpus is one of the major components in a Speech Processing System where one of the primary requirements is to recognize an input sample. The quality and details captured in speech corpus directly affects the precision of recognition. The current work proposes a platform for speech corpus generation using an adaptive LMS filter and LPC cepstrum, as a part of an ANN based Speech Recognition System which is exclusively designed to recognize isolated numerals of Assamese language- a major language in the North Eastern part of India. The work focuses on designing an optimal feature extraction block and a few ANN based cooperative architectures so that the performance of the Speech Recognition System can be improved.

Keywords: Filter, Feature, LMS, LPC, Cepstrum, ANN.

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Authors: Shaina Nagpal, Amit Gupta

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In this work, all optical Stimulated Brillouin Scattering (SBS) generated single sideband with suppressed carrier is presented to provide better efficiency. The generation of single sideband and enhanced carrier power signal using the SBS technique is further used to strengthen the low shifted sideband and to suppress the upshifted sideband. These generated single sideband signals are able to work at high frequency ranges. Also, generated single sideband is validated over 90 km transmission using single mode fiber with acceptable bit error rate. The results for an equivalent are then compared so that the acceptable technique is chosen and also the required quality for the optimum performance of the system is reported.

Keywords: Stimulated Brillouin scattering, radio over fiber, upper side band, quality factor.

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Authors: Viviane S. Guimarães, Ícaro M. M. Brasil, Simara S. Campos, Roseli F. Gennari, Márcia R. P. Attie, Susana O. Souza.

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Uranium mining and processing in Brazil occur in a northeastern area near to Caetité-BA. Several Non-Governmental Organizations claim that uranium mining in this region is a pollutant causing health risks to the local population,but those in charge of the complex extraction and production of“yellow cake" for generating fuel to the nuclear power plants reject these allegations. This study aimed at identifying potential problems caused by mining to the population of Caetité. In this, work,the concentrations of 238U, 232Th and 40K radioisotopes in the teeth of the Caetité population were determined by ICP-MS. Teeth are used as bioindicators of incorporated radionuclides. Cumulative radiation doses in the skeleton were also determined. The concentration values were below 0.008 ppm, and annual effective dose due to radioisotopes are below to the reference values. Therefore, it is not possible to state that the mining process in Caetité increases pollution or radiation exposure in a meaningful way.

Keywords: bioindicators, radiation dose, radioisotopesincorporation, uranium.

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Authors: Bhatti A., Nahavandi S., Hossny M.

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Current advancements in nanotechnology are dependent on the capabilities that can enable nano-scientists to extend their eyes and hands into the nano-world. For this purpose, a haptics (devices capable of recreating tactile or force sensations) based system for AFM (Atomic Force Microscope) is proposed. The system enables the nano-scientists to touch and feel the sample surfaces, viewed through AFM, in order to provide them with better understanding of the physical properties of the surface, such as roughness, stiffness and shape of molecular architecture. At this stage, the proposed work uses of ine images produced using AFM and perform image analysis to create virtual surfaces suitable for haptics force analysis. The research work is in the process of extension from of ine to online process where interaction will be done directly on the material surface for realistic analysis.

Keywords: Haptics, AFM, force feedback, image analysis.

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Authors: Philip T. Roundy

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Prior research has examined the relationship between religiosity, religious involvement, and involvement in secular, civic organizations. However, research has not examined the influence of religious involvement on secular, non-civic organizations (i.e. work organizations). This study examines the link between religiosity, religious involvement, and the three-component model of organizational commitment. More specifically, the author hypothesizes that individuals high in religiosity (and religious involvement) will have lower affective, continuance, and normative commitment than less religious (or non-religious) individuals. In addition, it is hypothesized that this relationship is moderated by a third factor: organizational spirituality. Further, the author hypothesizes that for organizations that are spiritual the negative relationship between religiosity and job commitment will be weakened or even negated.

Keywords: Job Commitment, Organizational Spirituality, Religiosity.

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Authors: Niwatchai Namwichisirikul

Abstract:

Due to the emergence of “Humanized Healthcare" introduced by Professor Dr. Prawase Wasi in 2003[1], the development of this paradigm tends to be widely implemented. The organizations included Healthcare Accreditation Institute (public organization), National Health Foundation, Mahidol University in cooperation with Thai Health Promotion Foundation, and National Health Security Office (Thailand) have selected the hospitals or infirmaries that are qualified for humanized healthcare since 2008- 2010 and 35 of them are chosen to be the outstandingly navigating organizations for the development of humanized healthcare, humanized healthcare award [2]. The research aims to study the current issue, characteristics and patterns of hospital administration contributing to humanized healthcare system in Thailand. The selected case studies are from four hospitals including Dansai Crown Prince Hospital, Leoi; Ubolrattana Hospital, Khon Kaen; Kapho Hospital, Pattani; and Prathai Hospital, Nakhonrachasima. The methodology is in-depth interviewing with 10 staffs working as hospital executive directors, and representatives from leader groups including directors, multidisciplinary hospital committees, personnel development committees, physicians and nurses in each hospital. (Total=40) In addition, focus group discussions between hospital staffs and general people (including patients and their relatives, the community leader, and other people) are held by means of setting 4 groups including 8 people within each group. (Total=128) The observation on the working in each hospital is also implemented. The findings of the study reveal that there are five important aspects found in each hospital including (1) the quality improvement under the mental and spiritual development policy from the chief executives and lead teams, leaders as Role model and they have visionary leadership; (2) the participation hospital administration system focusing on learning process and stakeholder- needs, spiritual human resource management and development; (3) the relationship among people especially staffs, team work skills, mutual understanding, effective communication and personal inner-development; (4) organization culture relevant to the awareness of patients- rights as well as the participation policy including spiritual growth achieving to the same goals, sharing vision, developing public mind, and caring; and (5) healing structures or environment providing warmth and convenience for hospital staffs, patients and their relatives and visitors.

Keywords: Hospital administration, Humanized healthcare.

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Authors: S. Parasuraman

Abstract:

In this work, a new approach is proposed to control the manipulators for Humanoid robot. The kinematics of the manipulators in terms of joint positions, velocity, acceleration and torque of each joint is computed using the Denavit Hardenberg (D-H) notations. These variables are used to design the manipulator control system, which has been proposed in this work. In view of supporting the development of a controller, a simulation of the manipulator is designed for Humanoid robot. This simulation is developed through the use of the Virtual Reality Toolbox and Simulink in Matlab. The Virtual Reality Toolbox in Matlab provides the interfacing and controls to an environment which is developed based on the Virtual Reality Modeling Language (VRML). Chains of bones were used to represent the robot.

Keywords: Mobile robot, Robot Kinematics, Robot Navigation, MATLAB.

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