Search results for: autonomous motion planning

Authors: Md. Masum Billah, Mohiuddin Ahmed, Soheli Farhana

Abstract:

In modern day disaster recovery mission has become one of the top priorities in any natural disaster management regime. Smart autonomous robots may play a significant role in such missions, including search for life under earth quake hit rubbles, Tsunami hit islands, de-mining in war affected areas and many other such situations. In this paper current state of many walking robots are compared and advantages of hexapod systems against wheeled robots are described. In our research we have selected a hexapod spider robot; we are developing focusing mainly on efficient navigation method in different terrain using apposite gait of locomotion, which will make it faster and at the same time energy efficient to navigate and negotiate difficult terrain. This paper describes the method of terrain negotiation navigation in a hazardous field.

Keywords: Walking robots, locomotion, hexapod robot, gait, hazardous field.

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Authors: Juan Llopis, Reyes Gonzalez, Jose Gasco

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This paper has as its main aim to analyse how corporate web pages can become an essential tool in order to detect strategic trends by firms or sectors, and even a primary source for benchmarking. This technique has made it possible to identify the key issues in the strategic management of the most excellent large Spanish firms and also to describe trends in their long-range planning, a way of working that can be generalised to any country or firm group. More precisely, two objectives were sought. The first one consisted in showing the way in which corporate websites make it possible to obtain direct information about the strategic variables which can define firms. This tool is dynamic (since web pages are constantly updated) as well as direct and reliable, since the information comes from the firm itself, not from comments of third parties (such as journalists, academicians, consultants...). When this information is analysed for a group of firms, one can observe their characteristics in terms of both managerial tasks and business management. As for the second objective, the methodology proposed served to describe the corporate profile of the large Spanish enterprises included in the Ibex35 (the Ibex35 or Iberia Index is the reference index in the Spanish Stock Exchange and gathers periodically the 35 most outstanding Spanish firms). An attempt is therefore made to define the long-range planning that would be characteristic of the largest Spanish firms.

Keywords: Web Pages, Strategic Management, Corporate Description, Large Firms, Spain.

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Authors: Mahmud Gungor, Ali Aydin, Erdal Akyol, Suat Tasdelen

Abstract:

The understanding of geotechnical characteristics of near-surface material and the effects of the groundwater is very important problem in such as site studies. For showing the relations between seismic data and groundwater, we selected about 25 km2 as the study area. It has been presented which is a detailed work of seismic data and groundwater depths of Gokpinar Damp area. Seismic waves velocity (Vp and Vs) are very important parameters showing the soil properties. The seismic records were used the method of the multichannel analysis of surface waves near area of Gokpinar Damp area. Sixty sites in this area have been investigated with survey lines about 60 m in length. MASW (Multichannel analysis of surface wave) method has been used to generate onedimensional shear wave velocity profile at locations. These shear wave velocities are used to estimate equivalent shear wave velocity in the study area at every 2 and 5 m intervals up to a depth of 45 m. Levels of equivalent shear wave velocity of soil are used the classified of the study area. After the results of the study, it must be considered as components of urban planning and building design of Gokpinar Damp area, Denizli and the application and use of these results should be required and enforced by municipal authorities.

Keywords: Seismic data, Gokpinar Damp, urban planning, Denizli.

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Authors: Qasem M. Al-Mdallal

Abstract:

This paper presents results obtained from the numerical solution for the flow past an oscillating circular cylinder at Reynolds number of 200. The frequency of oscillation was fixed to the vortex shedding frequency from a fixed cylinder, f0, while the amplitudes of oscillations were varied from to 1.1a, where a represents the radius of the cylinder. The response of the flow through the fluid forces acting on the surface of the cylinder are investigated. The lock-on phenomenon is captured at low oscillation amplitudes.

Keywords: Lock-on; streamwise oscillation; transverse oscillation; fluid forces, combined motion

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Authors: Naoto Suzuki

Abstract:

Japanese are affected by the most common causes of eyesight loss such as glaucoma, diabetic retinopathy, pigmentary retinal degeneration, and age-related macular degeneration. We developed an ophthalmological examination apparatus with a fundus camera, precisely fundus-related perimetry (microperimetry), and electroretinogram (ERG) functions to diagnose a variety of diseases that cause eyesight loss. The experimental apparatus was constructed with the same optical system as a fundus camera. The microperimetry optical system was calculated and added to the experimental apparatus using the German company Optenso's optical engineering software (OpTaliX-LT 10.8). We also added an Edmund infrared camera (EO-0413), a lens with a 25 mm focal length, a 45° cold mirror, a 12 V/50 W halogen lamp, and an 8-inch monitor. We made the artificial eye of a plane-convex lens, a black spacer, and a hemispherical cup. The hemispherical cup had a small section of the paper at the bottom. The artificial eye was photographed five times using the experimental apparatus. The software was created to display the examination target on the monitor and save examination data using C++Builder 10.2. The retinal fundus was displayed on the monitor at a length and width of 1 mm and a resolution of 70.4 ± 4.1 and 74.7 ± 6.8 pixels, respectively. The microperimetry and ERG functions were successfully added to the experimental ophthalmological apparatus. A moving machine was developed to measure the artificial eye's movement. The artificial eye's rear part was painted black and white in the central area. It was rotated 10 degrees from one side to the other. The movement was captured five times as motion videos. Three static images were extracted from one of the motion videos captured. The images display the artificial eye facing the center, right, and left directions. The three images were processed using Scilab 6.1.0 and Image Processing and Computer Vision Toolbox 4.1.2, including trimming, binarization, making a window, deleting peripheral area, and morphological operations. To calculate the artificial eye's fundus center, we added a gravity method to the program to calculate the gravity position of connected components. From the three images, the image processing could calculate the center position.

Keywords: Ophthalmological examination apparatus, microperimetry, electroretinogram, eye movement.

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Authors: Kamil Aida-zade, C. Ardil

Abstract:

In this paper, some problem formulations of dynamic object parameters recovery described by non-autonomous system of ordinary differential equations with multipoint unshared edge conditions are investigated. Depending on the number of additional conditions the problem is reduced to an algebraic equations system or to a problem of quadratic programming. With this purpose the paper offers a new scheme of the edge conditions transfer method called by conditions shift. The method permits to get rid from differential links and multipoint unshared initially-edge conditions. The advantage of the proposed approach is concluded by capabilities of reduction of a parametric identification problem to essential simple problems of the solution of an algebraic system or quadratic programming.

Keywords: dynamic objects, ordinary differential equations, multipoint unshared edge conditions, quadratic programming, conditions shift

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Authors: A. Mourtzikou, D. Sygkridou, T. Georgakopoulos, G. Katsagounos, E. Stathatos

Abstract:

Over 60% highly transparent quasi-solid-state dye-sensitized solar cells (DSSCs) with dimension of 50x50 cm² were fabricated via inkjet printing process using nanocomposite inks as raw materials and tested under outdoor illumination conditions. The cells were electrically characterized, and their possible application to the shell of greenhouses was also examined. The panel design was in Z-interconnection, where the working electrode was inkjet printed on one conductive glass and the counter electrode on a second glass in a sandwich configuration. Silver current collective fingers were printed on the glasses to make the internal electrical connections. In that case, the adjacent cells were connected in series via silver fingers and finally insulated using a UV curing resin to protect them from the corrosive (I^-/I₃^-) redox couple of the electrolyte.

Keywords: Dye-sensitized solar panels, inkjet printing, quasi-solid-state electrolyte, semi-transparency, scale up.

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Authors: Petr Cernohorsky, Jan Voracek

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Well-developed strategic marketing planning is the essential prerequisite for establishment of the right and unique competitive advantage. Typical market, however, is a heterogeneous and decentralized structure with natural involvement of individual or group subjectivity and irrationality. These features cannot be fully expressed with one-shot rigorous formal models based on, e.g. mathematics, statistics or empirical formulas. We present an innovative solution, extending the domain of agent based computational economics towards the concept of hybrid modeling in service provider and consumer market such as telecommunications. The behavior of the market is described by two classes of agents - consumer and service provider agents - whose internal dynamics are fundamentally different. Customers are rather free multi-state structures, adjusting behavior and preferences quickly in accordance with time and changing environment. Producers, on the contrary, are traditionally structured companies with comparable internal processes and specific managerial policies. Their business momentum is higher and immediate reaction possibilities limited. This limitation underlines importance of proper strategic planning as the main process advising managers in time whether to continue with more or less the same business or whether to consider the need for future structural changes that would ensure retention of existing customers or acquisition of new ones.

Keywords: Agent-based computational economics, hybrid modeling, strategic marketing, system dynamics.

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Authors: Patrick May Mukonki

Abstract:

KOV pit (Kamoto Oliveira Virgule) is located 10 km from Kolwezi town, one of the mineral rich town in the Lualaba province of the Democratic Republic of Congo. The KOV pit is currently operating under the Katanga Mining Limited (KML), a Glencore-Gecamines (a State Owned Company) join venture. Recently, the mine optimization process provided a life of mine of approximately 10 years withnice pushbacks using the Datamine NPV Scheduler software. In previous KOV pit studies, we recently outlined the impact of the accuracy of the geological information on a long-term mine plan for a big copper mine such as KOV pit. The approach taken, discussed three main scenarios and outlined some weaknesses on the geological information side, and now, in this paper that we are going to develop here, we are going to highlight, as an overview, those weaknesses, strengths and opportunities, in a global SWOT analysis. The approach we are taking here is essentially descriptive in terms of steps taken to optimize KOV pit and, at every step, we categorized the challenges we faced to have a better tradeoff between what we called strengths and what we called weaknesses. The same logic is applied in terms of the opportunities and threats. The SWOT analysis conducted in this paper demonstrates that, despite a general poor ore body definition, and very rude ground water conditions, there is room for improvement for such high grade ore body.

Keywords: Mine planning, mine optimization, mine scheduling, SWOT analysis.

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Authors: M. Rezki, A. Belaidi

Abstract:

This paper deals with a method of learning to solve a real problem in biomedical engineering from a technical study of muscle fatigue. Electromyography (EMG) is a technique for evaluating and recording the electrical activity produced by skeletal muscles (viewpoint: anatomical and physiological). EMG is used as a diagnostics tool for identifying neuromuscular diseases, assessing low-back pain and muscle fatigue in general. In order to study the EMG signal for detecting fatigue in a muscle, we have taken a real problem which touches the tramway conductor the handle bar. For the study, we have used a typical autonomous platform in order to get signals at real time. In our case study, we were confronted with complex problem to do our experiments in a tram. This type of problem is recurring among students. To teach our students the method to solve this kind of problem, we built a similar system. Through this study, we realized a lot of objectives such as making the equipment for simulation, the study of detection of muscle fatigue and especially how to manage a study of biomedical looking.

Keywords: EMG, health platform, conductor’s tram, muscle fatigue.

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Authors: Ahmad Mansoor Stanikzai, Yoshitaka Kajita

Abstract:

This research is a very essential towards transportation planning of Kabul New City. In this research, the travel demand of Kabul metropolitan area (Existing and Kabul New City) are evaluated for three different target years (2015, current, 2025, mid-term, 2040, long-term). The outcome of this study indicates that, though currently the vehicle volume is less the capacity of existing road networks, Kabul city is suffering from daily traffic congestions. This is mainly due to lack of transportation management, the absence of proper policies, improper public transportation system and violation of traffic rules and regulations by inhabitants. On the other hand, the observed result indicates that the current vehicle to capacity ratio (VCR) which is the most used index to judge traffic status in the city is around 0.79. This indicates the inappropriate traffic condition of the city. Moreover, by the growth of population in mid-term (2025) and long-term (2040) and in the case of no development in the road network and transportation system, the VCR value will dramatically increase to 1.40 (2025) and 2.5 (2040). This can be a critical situation for an urban area from an urban transportation perspective. Thus, by introducing high-capacity public transportation system and the development of road network in Kabul New City and integrating these links with the existing city road network, significant improvements were observed in the value of VCR.

Keywords: Afghanistan, Kabul New City, planning, policy, urban transportation.

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Authors: Saeedeh Shafiee Nahrkhalaji

Abstract:

Metacognitive knowledge increases EFL students’ ability to be successful learners. Although this relationship has been investigated by a number of scholars, EFL teachers’ explicit awareness of their cognitive knowledge has not been sufficiently explored. The aim of this study was to examine the role of EFL teachers’ metacognitive knowledge in their pedagogical performance. Furthermore, the role played by years of their academic education and teaching experience was also studied. Fifty female EFL teachers were selected. They completed Metacognitive Awareness Inventory (MAI) that assessed six components of metacognition including procedural knowledge, declarative knowledge, conditional knowledge, planning, evaluating, and management strategies. Near the end of the academic semester, the students of each class filled in ‘the Language Teacher Characteristics Questionnaire’ to evaluate their teachers’ pedagogical performance. Four elements of MAI, declarative knowledge, planning, evaluating, and management strategies were found to be significantly correlated with EFL teachers’ pedagogical success. Significant correlation was also established between metacognitive knowledge and EFL teachers’ years of academic education and teaching experience. The findings obtained from this research have contributing implication for EFL teacher educators. The discussion concludes by setting out directions for future research.

Keywords: Metacognotive Knowledge, Pedagogical Performance, Language Teacher Characteristics Questionnaire, Metacognitive Awareness Inventory.

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Authors: C.Kia, M.R.Arshad, A.H.Adom, P.A.Wilson

Abstract:

This paper presents recent work on the improvement of the robotics vision based control strategy for underwater pipeline tracking system. The study focuses on developing image processing algorithms and a fuzzy inference system for the analysis of the terrain. The main goal is to implement the supervisory fuzzy learning control technique to reduce the errors on navigation decision due to the pipeline occlusion problem. The system developed is capable of interpreting underwater images containing occluded pipeline, seabed and other unwanted noise. The algorithm proposed in previous work does not explore the cooperation between fuzzy controllers, knowledge and learnt data to improve the outputs for underwater pipeline tracking. Computer simulations and prototype simulations demonstrate the effectiveness of this approach. The system accuracy level has also been discussed.

Keywords: Fuzzy logic, Underwater target tracking, Autonomous underwater vehicles, Artificial intelligence, Simulations, Robot navigation, Vision system.

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Authors: Fernanda M. Assef, Maria Teresinha A. Steiner, David Gabriel F. de Barros

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Review researches are useful in terms of analysis of research problems. Between the types of review documents, we commonly find bibliometric studies. This type of application often helps the global visualization of a research problem and helps academics worldwide to understand the context of a research area better. In this document, a bibliometric view surrounding clustering techniques and sustainability problems is presented. The authors aimed at which issues mostly use clustering techniques and even which sustainability issue would be more impactful on today’s moment of research. During the bibliometric analysis, we found 10 different groups of research in clustering applications for sustainability issues: Energy; Environmental; Non-urban Planning; Sustainable Development; Sustainable Supply Chain; Transport; Urban Planning; Water; Waste Disposal; and, Others. Moreover, by analyzing the citations of each group, it was discovered that the Environmental group could be classified as the most impactful research cluster in the area mentioned. After the content analysis of each paper classified in the environmental group, it was found that the k-means technique is preferred for solving sustainability problems with clustering methods since it appeared the most amongst the documents. The authors finally conclude that a bibliometric assessment could help indicate a gap of researches on waste disposal – which was the group with the least amount of publications – and the most impactful research on environmental problems.

Keywords: Bibliometric assessment, clustering, sustainability, territorial partitioning.

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Authors: Sagar Jajoo

Abstract:

Urban planning is the need of the hour in a rapidly developing county like India. In essence, urban planning enhances the quality of land at a reasonable cost. Naya (New) Raipur is the new planned capital of the Indian state of Chhattisgarh, and is one of India’s few planned cities. Over the next decade it will drastically change the landscape of the state of Chhattisgarh. This new planned development is quintessential in growing this backward region and providing for future infrastructure. Key questions that arise are: How are people living in the surrounding region of New Raipur affected by its development? Are the affected people satisfied with compensation and rehabilitation that has been provided by the New Raipur Development Authority? To answer these questions, field research study in the form of questionnaires, interviews and site visits was conducted. To summarize the findings, while a majority of the surveyed population was dissatisfied with the rehabilitation and compensation provided by the New Raipur Development Authority, they were very positive about the success of the new development. Most thought that the new city would help their careers, improve job opportunities, improve prospects for their future generations, and benefit society as a whole.

To improve rehabilitation schemes for the future, the reasons for the negative sentiment brewing amongst the villagers regarding the monetary compensation was investigated. Most villagers deemed the monetary compensation to be lacking as they had squandered their financial windfall already. With numerous interviews and site visits, it was discovered that the lump sum form of monetary compensation was to blame. With a huge sum of money received at once and a lack of financial education, many villagers squandered this newly gained money on unnecessary purchases such as alcohol and expensive vehicles without investing for the long run in farmland and education for their children. One recommendation proposed to the New Raipur Development Authority (NRDA) for future monetary compensation design in times of rehabilitating people was to provide payments in installments rather than lump sums and educate the people about investing the compensation money wisely. This would save them from wasting money they receive and the ensuing dissatisfaction of squandering that money.

Keywords: Compensation, Naya Raipur, Rehabilitation, Satisfaction Survey, Urban Planning.

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Authors: J. Sepitka, J. Lukes, J. Reznicek

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Hysitron TriboIndenterTM TI 950 system has been used for studying the local viscoelastic properties of porcine intervertebral disc end plate by means of nanoscale mechanical dynamic analysis. The specimen of an endplate was cut from fresh porcine vertebra dissected from 16 month animal. The lumbar spine motion segments were dissected and 5 millimeter thick plates of vertebral body, endplate and annulus fibrosus were prepared for nanoindentation. The surface of the sample was kept in physiological solution during nanoindentation experiment. We obtained mechanical characteristics of different areas of native endplate (endplate middle and vertebra and annulus fibrosus boundary).

Keywords: nanoindentation, DMA, endplate, cartilage

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Authors: A. Kourou, A. Ioakeimidou, V. Avramea

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Planning for natural disasters and emergencies is something every school or educational institution must consider, regardless of its size or location. Preparedness is the key to save lives if a disaster strikes. School disaster management mirrors individual and family disaster prevention, and wider community disaster prevention efforts. This paper presents the usage of E-PreS System as a helpful, managerial tool during the school earthquake drill, in order to support schools in developing effective disaster and emergency plans specific to their local needs. The project comes up with a holistic methodology using real-time evaluation involving different categories of actors, districts, steps and metrics. The main outcomes of E-PreS project are the development of E-PreS web platform that host the needed data of school emergency planning; the development of E-PreS System; the implementation of disaster drills using E-PreS System in educational premises and local schools; and the evaluation of E-PreS System. Taking into consideration that every disaster drill aims to test and valid school plan and procedures; clarify and train personnel in roles and responsibilities; improve interagency coordination; identify gaps in resources; improve individual performance; and identify opportunities for improvement, E-PreS Project was submitted and approved by the European Commission (EC).

Keywords: Disaster drills, earthquake preparedness, E-PreS system, school emergency plans.

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Authors: Lenka Krulikovská, Jaroslav Polec

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In this paper we present a method of abrupt cut detection with a novel logic of frames- comparison. Actual frame is compared with its motion estimated prediction instead of comparison with successive frame. Four different similarity metrics were employed to estimate the resemblance of compared frames. Obtained results were evaluated by standard used measures of test accuracy and compared with existing approach. Based on the results, we claim the proposed method is more effective and Pearson correlation coefficient obtained the best results among chosen similarity metrics.

Keywords: Abrupt cut, mutual information, shot cut detection, Pearson correlation coefficient.

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Authors: Wayan F. Mahmudy, Romeo M. Marian, Lee H. S. Luong

Abstract:

 This paper deals with modeling and optimization of two NP-hard problems in production planning of flexible manufacturing system (FMS), part type selection problem and loading problem. The part type selection problem and the loading problem are strongly related and heavily influence the system’s efficiency and productivity. These problems have been modeled and solved simultaneously by using real coded genetic algorithms (RCGA) which uses an array of real numbers as chromosome representation. The novel proposed chromosome representation produces only feasible solutions which minimize a computational time needed by GA to push its population toward feasible search space or repair infeasible chromosomes. The proposed RCGA improves the FMS performance by considering two objectives, maximizing system throughput and maintaining the balance of the system (minimizing system unbalance). The resulted objective values are compared to the optimum values produced by branch-and-bound method. The experiments show that the proposed RCGA could reach near optimum solutions in a reasonable amount of time.

Keywords: Flexible manufacturing system, production planning, part type selection problem, loading problem, real-coded genetic algorithm.

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Authors: M. Zahedian, B. Maraghechi, M. H. Rouhani

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A nonlinear model of two-beam free-electron laser (FEL) in the absence of slippage is presented. The two beams are assumed to be cold with different energies and the fundamental resonance of the higher energy beam is at the third harmonic of lower energy beam. By using Maxwell-s equations and full Lorentz force equations of motion for the electron beams, coupled differential equations are derived and solved numerically by the fourth order Runge–Kutta method. In this method a considerable growth of third harmonic electromagnetic field in the XUV and X-ray regions is predicted.

Keywords: Free-electron laser, Higher energy beam, Lowerenergy beam, Two-beam

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Authors: Xia Zhou, Shouming Zhong

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The problem of delay-range-dependent exponential synchronization is investigated for Lur-e master-slave systems with delay feedback control and Markovian switching. Using Lyapunov- Krasovskii functional and nonsingular M-matrix method, novel delayrange- dependent exponential synchronization in mean square criterions are established. The systems discussed in this paper is advanced system, and takes all the features of interval systems, Itˆo equations, Markovian switching, time-varying delay, as well as the environmental noise, into account. Finally, an example is given to show the validity of the main result.

Keywords: Synchronization, delay-range-dependent, Markov chain, generalized Itō's formula, brownian motion, M-matrix.

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Authors: Kenneth M. Oba

Abstract:

This study investigated factors affecting the price of cement in Nigeria, and developed a mathematical model that can predict future cement prices. Cement is key in the Nigerian construction industry. The changes in price caused by certain factors could affect economic and infrastructural development; hence there is need for proper proactive planning. Secondary data were collected from published information on cement between 2014 and 2019. In addition, questionnaires were sent to some domestic cement retailers in Port Harcourt in Nigeria, to obtain the actual prices of cement between the same periods. The study revealed that the most critical factors affecting the price of cement in Nigeria are inflation rate, population growth rate, and Gross Domestic Product (GDP) growth rate. With the use of data from United Nations, International Monetary Fund, and Central Bank of Nigeria databases, amongst others, a Multiple Linear Regression model was formulated. The model was used to predict the price of cement for 2020-2025. The model was then tested with 95% confidence level, using a two-tailed t-test and an F-test, resulting in an R² of 0.8428 and R² (adj.) of 0.6069. The results of the tests and the correlation factors confirm the model to be fit and adequate. This study will equip researchers and stakeholders in the construction industry with information for planning, monitoring, and management of present and future construction projects that involve the use of cement.

Keywords: Cement price, multiple linear regression model, Nigerian Construction Industry, price prediction.

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Authors: M. C. Proença

Abstract:

The tools described in this paper enable the location of burned areas where took place the annihilation of natural habitats and establishes a baseline for major changes in forest ecosystems during recovery. Moreover, the result allows the follow up of the surface fuel loading, allowing the evaluation and guidance of restoration measures to remote areas by phased time planning. This case study implements the evaluation of burned areas that suffered successive wildfires in Portugal mainland during the summer of 2017, killing more than 60 people. The goal is to show that this evaluation can be done with remote sense data free of charges in a simple laptop, with open-source software, describing the not-so-simple methodology step by step, to make it accessible for local workers in the areas attained, where the availability of information is essential for the immediate planning of mitigation measures, such as restoring road access, allocate funds for the recovery of human dwellings and assess further needs for restoration of the ecological system. Wildfires also devastate forest ecosystems having a direct impact on vegetation cover and killing or driving away the animal population, besides loss of all crops in rural areas that are essential as local resources. The economic interests are also attained, as the pinewood burned becomes useless for the noblest applications, so its value decreases, and resin extraction ends for several years.

Keywords: Image processing, remote sensing, wildfires, burned areas, SENTINEL-2.

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Authors: Johnson Adafin, James O. B. Rotimi, Suzanne Wilkinson, Abimbola O. Windapo

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An aspect of client expenditure management that requires attention is the level of accuracy achievable in design-stage elemental cost planning. This has been a major concern for construction clients and practitioners in New Zealand (NZ). Pre-tender estimating inaccuracies are significantly influenced by the level of risk information available to estimators. Proper cost planning activities should ensure the production of a project’s likely construction costs (initial and final), and subsequent cost control activities should prevent unpleasant consequences of cost overruns, disputes and project abandonment. If risks were properly identified and priced at the design stage, observed variance between design-stage elemental cost plans (ECPs) and final tender sums (FTS) (initial contract sums) could be reduced. This study investigates the variations between design-stage ECPs and FTS of construction projects, with a view to identifying risk factors that are responsible for the observed variance. Data were sourced through interviews, and risk factors were identified by using thematic analysis. Access was obtained to project files from the records of study participants (consultant quantity surveyors), and document analysis was employed in complementing the responses from the interviews. Study findings revealed the discrepancies between ECPs and FTS in the region of -14% and +16%. It is opined in this study that the identified risk factors were responsible for the variability observed. The values obtained from the analysis would enable greater accuracy in the forecast of FTS by Quantity Surveyors. Further, whilst inherent risks in construction project developments are observed globally, these findings have important ramifications for construction projects by expanding existing knowledge on what is needed for reasonable budgetary performance and successful delivery of construction projects. The findings contribute significantly to the study by providing quantitative confirmation to justify the theoretical conclusions generated in the literature from around the world. This therefore adds to and consolidates existing knowledge.

Keywords: Accuracy, design-stage, elemental cost plan, final tender sum, New Zealand.

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Authors: Chien-Chun Kung, Feng-Lung Chiang, Kuei-Yi Chen

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In this paper, we will implement three-dimensional pursuit guidance law with feedback linearization control method and study the effects of parameters. First, we introduce guidance laws and equations of motion of a missile. Pursuit guidance law is our highlight. We apply feedback linearization control method to obtain the accelerations to implement pursuit guidance law. The solution makes warhead direction follow with line-of-sight. Final, the simulation results show that the exact solution derived in this paper is correct and some factors e.g. control gain, time delay, are important to implement pursuit guidance law.

Keywords: Pursuit guidance law, feedback linearization.

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Authors: Seyed Nima Tayarani Bathaie

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In this paper, an image-receiving system was designed and implemented through optimization of object detection algorithms using Haar features. This optimized algorithm served as face and eye detection separately. Then, cascading them led to a clear image of the user. Utilization of this feature brought about higher security by preventing fraud. This attribute results from the fact that services will be given to the user on condition that a clear image of his face has already been captured which would exclude the inappropriate person. In order to expedite processing and eliminating unnecessary ones, the input image was compressed, a motion detection function was included in the program, and detection window size was confined.

Keywords: Face detection algorithm, Haar features, Security of ATM.

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Authors: Pavel Chmelar, Martin Dobrovolny

Abstract:

Laser projection or laser footprint detection is today widely used in many fields of robotics, measurement or electronics. The system accuracy strictly depends on precise laser footprint detection on target objects. This article deals with the laser line detection based on the RGB segmentation and the component labeling. As a measurement device was used the developed optical rangefinder. The optical rangefinder is equipped with vertical sweeping of the laser beam and high quality camera. This system was developed mainly for automatic exploration and mapping of unknown spaces. In the first section is presented a new detection algorithm. In the second section are presented measurements results. The measurements were performed in variable light conditions in interiors. The last part of the article present achieved results and their differences between day and night measurements.

Keywords: Automatic mapping, color segmentation, component labeling, distance measurement, laser line detection, vector map.

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Authors: Wen-Hong Liu, Hao-Tang Jhan, Kun-Lung Lin, Meng-Tsung Lee

Abstract:

Weather disaster events were frequent and caused loss of lives and property in Taiwan recently. Excessive concentration of population and lacking of integrated planning led to Taiwanese coastal zone face the impacts of climate change directly. Comparing to many countries which have already set up legislation, competent authorities and national adaptation strategies, the ability of coastal management adapting to climate change is still insufficient in Taiwan. Therefore, it is necessary to establish a complete institutional arrangement for coastal management due to climate change in order to protect environment and sustain socio-economic development. This paper firstly reviews the impact of climate change on Taiwanese coastal zone. Secondly, development of Taiwanese institutional arrangement of coastal management is introduced. Followed is the analysis of four dimensions of legal basis, competent authority, scientific and financial support and international cooperations of institutional arrangement. The results show that Taiwanese government shall: 1) integrate climate change issue into Coastal Act, Wetland Act and territorial planning Act and pass them; 2) establish the high level competent authority for coastal management; 3) set up the climate change disaster coordinate platform; 4) link scientific information and decision markers; 5) establish the climate change adjustment fund; 6) participate in international climate change organizations and meetings actively; 7) cooperate with near countries to exchange experiences.

Keywords: Climate Change, Coastal Zone Management, Institution Arrangement, Adaptation.

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Authors: Anusua Ghosh, Andrew Nafalski, Jeffery Tweedale, Maureen Dollard

Abstract:

This paper presents anapproach of hybridizing two or more artificial intelligence (AI) techniques which arebeing used to fuzzify the workstress level ranking and categorize the rating accordingly. The use of two or more techniques (hybrid approach) has been considered in this case, as combining different techniques may lead to neutralizing each other-s weaknesses generating a superior hybrid solution. Recent researches have shown that there is a need for a more valid and reliable tools, for assessing work stress. Thus artificial intelligence techniques have been applied in this instance to provide a solution to a psychological application. An overview about the novel and autonomous interactive model for analysing work-stress that has been developedusing multi-agent systems is also presented in this paper. The establishment of the intelligent multi-agent decision analyser (IMADA) using hybridized technique of neural networks and fuzzy logic within the multi-agent based framework is also described.

Keywords: Fuzzy logic, intelligent agent, multi-agent systems, neural network, workplace stress.

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Authors: Mohamed T. Sorour, Mohamed A. Abdellatif, Ahmed A. Ramadan, Ahmed A. Abo-Ismail

Abstract:

This paper describes the development of an autonomous robot for painting the interior walls of buildings. The robot consists of a painting arm with an end effector roller that scans the walls vertically and a mobile platform to give horizontal feed to paint the whole area of the wall. The painting arm has a planar twolink mechanism with two joints. Joints are driven from a stepping motor through a ball screw-nut mechanism. Four ultrasonic sensors are attached to the mobile platform and used to maintain a certain distance from the facing wall and to avoid collision with side walls. When settled on adjusted distance from the wall, the controller starts the painting process autonomously. Simplicity, relatively low weight and short painting time were considered in our design. Different modules constituting the robot have been separately tested then integrated. Experiments have shown successfulness of the robot in its intended tasks.

Keywords: Automated roller painting, Construction robots, Mobile robots, service robots, two link planar manipulator

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