Search results for: Three-Dimensional Path Planning Unmanned Aerial Vehicles.

Authors: Abdulmajid Mukhtar Afat

Abstract:

This paper aims at introducing nondeterministic finite automata with ε value which is used to perform some operations on languages. a program is created to implement the algorithm that converts nondeterministic finite automata with ε value (ε-NFA) to deterministic finite automata (DFA).The program is written in c++ programming language. The program inputs are FA 5-tuples from text file and then classifies it into either DFA/NFA or ε -NFA. For DFA, the program will get the string w and decide whether it is accepted or rejected. The tracking path for an accepted string is saved by the program. In case of NFA or ε-NFA automation, the program changes the automation to DFA to enable tracking and to decide if the string w exists in the regular language or not.

Keywords: Finite automata, DFA, NFA, ε-NFA, Eclose, operations on languages.

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Authors: Madiajagan Muthaiyan, Neha Goel, Deepti Sunder Prakash

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This paper discusses about an intelligent system to be installed in ambulances providing professional support to the paramedics on board. A video conferencing device over mobile 4G services enables specialists virtually attending the patient being transferred to the hospital. The data centre holds detailed databases on the patients past medical history and hospitals with the specialists. It also hosts various software modules that compute the shortest traffic –less path to the closest hospital with the required facilities, on inputting the symptoms of the patient, on a real time basis.

Keywords: 4G mobile services, cloud computing, data centre, intelligent system, optimization, real time traffic reporting, SaaS, video conferencing.

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Authors: Vipan Kumar Sohpal, Rajesh K Sharma

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Diminishing of conventional fuels and hysterical vehicles emission leads to deterioration of the environment, which emphasize the research to work on biofuels. Biofuels from different sources attract the attention of research due to low emission and biodegradability. Emission of carbon monoxide, carbon dioxide and H-C reduced drastically using Biofuels (B-20) combustion. Contrary to the conventional fuel, engine emission results indicated that nitrous oxide emission is higher in Biofuels. So this paper examines and compares the nitrogen oxide emission of Jatropha Curcus (JCO) B-20% blends with the vegetable oil. In addition to that computational analysis of crude non edible oil performed to assess the impact of composition on emission quality. In conclusion, JCO have the potential feedstock for the biodiesel production after the genetic modification in the plant.

Keywords: Jatropha Curcus, computational analysis, emissions, biofuels.

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Authors: M. Farzadkia, S. Jorfi

Abstract:

Hospital waste is a category of waste consisting of infectious and non-infectious waste, which pose environmental and health risks. Therefore, special planning and management is required, due to the potential hazards of them. The lack of valid and comprehensive information regarding the generation and management of hospital waste in Iran is one of the most important problems in this field. This research aimed to evaluate hospital waste management efficiency in Karaj city, Iran. The four greatest hospitals in Karaj city had been selected in this cross-sectional study. Site observations and interviews with employees were implemented. The data was gathered based on the hospital waste management questionnaire which was designed by World Health Organization for developing countries. Collected Data had been analyzed using SPSS software. The average of solid waste which was generated per bed was 2.78 kg, which included 90% of domestic waste and 10% of infectious waste. Based on the quantitative analysis of general and infectious waste in these hospitals, the highest contributors of general waste were consisting of food waste (37.39%), while textile (28.06%) were the highest contributors of the infectious waste. According to the information contained in the questionnaires, the main defects of waste management in these hospitals were; inadequate staff in waste management sector, poorly disinfection of solid waste containers and temporary storage locations, and a lack of proper infectious waste treatment. According to the results of this research, waste management in these hospitals were far from optimum conditions. In order to improve the existing conditions, mentioned problems must be solved quickly, and planning for continuous monitoring in the waste management field in these hospitals should be established.

Keywords: Waste management, hospital wastes, solid wastes, Iran.

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Authors: K. Dimitropoulos, N. Grammalidis, I. Gragopoulos, H. Gao, Th. Heuer, M. Weinmann, S. Voit, C. Stockhammer, U. Hartmann, N. Pavlidou

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Existing ground movement surveillance technologies at airports are subjected to limitations due to shadowing effects or multiple reflections. Therefore, there is a strong demand for a new sensing technology, which will be cost effective and will provide detection of non-cooperative targets under any weather conditions. This paper aims to present a new intelligent system, developed within the framework of the EC-funded ISMAEL project, which is based on a new magnetic sensing technology and provides detection, tracking and automatic classification of targets moving on the airport surface. The system is currently being installed at two European airports. Initial experimental results under real airport traffic demonstrate the great potential of the proposed system.

Keywords: Air traffic management, magnetic sensors, multitracking, A-SMGCS.

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Authors: Sanjoy Das, Akash Arya, Rishi Pal Singh

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Vehicular Ad hoc Network is basically the solution of several problems associated while vehicles are plying on the road. In this paper, we have focused on the detection of imposter node while it has stolen the ID's of the authenticated vehicle in the network. The purpose is to harm the network through imposter messages. Here, we have proposed a protocol namely Imposter Detection based on Location (IDBL), which will store the location coordinate of the each vehicle as the key of the authenticity of the message so that imposter node can be detected. The imposter nodes send messages from a stolen ID and show that it is from an authentic node ID. So, to detect this anomaly, the first location is checked and observed different from original vehicle location. This node is known as imposter node. We have implemented the algorithm through JAVA and tested various types of node distribution and observed the detection probability of imposter node.

Keywords: Authentication, detection, IDBL protocol, imposter node, node detection.

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Authors: Afonso, S. C., Fernandes, P. O., Monte, A. P.

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Modern times call organizations to have an active role in the social arena, through Corporate Social Responsibility (CSR). The objective of this research was to test the hypothesis that there is a positive relation between social performance and economic performance, and if there is a positive correlation between social performance and financial-economic performance. To test these theories a measure of social performance, based on the Green Book of Commission of the European Community, was used in a group of nineteen Portuguese top companies, listed on the PSI 20 index, through a period of five years, since 2005 to 2009. A clusters analysis was applied to group companies by their social performance and to compare and correlate their economic performance. Results indicate that companies that had a better social performance are not the ones who had a better economic performance, and suggest that the middle path might provide a good relation CSR-Economic performance, as a basis to a sustainable development.

Keywords: Corporate Social Responsibility, Economic Performance, Win-Win relationship

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Authors: Martin Ringdorfer, Martin Horn

Abstract:

A robust wheel slip controller for electric vehicles is introduced. The proposed wheel slip controller exploits the dynamics of electric traction drives and conventional hydraulic brakes for achieving maximum energy efficiency and driving safety. Due to the control of single wheel traction motors in combination with a hydraulic braking system, it can be shown, that energy recuperation and vehicle stability control can be realized simultaneously. The derivation of a sliding mode wheel slip controller accessing two drivetrain actuators is outlined and a comparison to a conventionally braked vehicle is shown by means of simulation.

Keywords: Wheel slip control, sliding mode control, vehicle dynamics.

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Authors: Chansiri Singhtaun

Abstract:

This paper proposes a mathematical model and examines the performance of an exact algorithm for a location– transportation problems in humanitarian relief. The model determines the number and location of distribution centers in a relief network, the amount of relief supplies to be stocked at each distribution center and the vehicles to take the supplies to meet the needs of disaster victims under capacity restriction, transportation and budgetary constraints. The computational experiments are conducted on the various sizes of problems that are generated. Branch and bound algorithm is applied for these problems. The results show that this algorithm can solve problem sizes of up to three candidate locations with five demand points and one candidate location with up to twenty demand points without premature termination.

Keywords: Disaster response, facility location, humanitarian relief, transportation.

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Authors: Cencen Li, Shaoying Liu, Shin Nakajima

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Specification-based testing enables us to detect errors in the implementation of functions defined in given specifications. Its effectiveness in achieving high path coverage and efficiency in generating test cases are always major concerns of testers. The automatic test cases generation approach based on formal specifications proposed by Liu and Nakajima is aimed at ensuring high effectiveness and efficiency, but this approach has not been empirically assessed. In this paper, we present an experiment for assessing Liu-s testing approach. The result indicates that this testing approach may not be effective in some circumstances. We discuss the result, analyse the specific causes for the ineffectiveness, and describe some suggestions for improvement.

Keywords: experiment, functional scenario, specification-based, testing.

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Authors: Estela Macedo Alves

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This paper is an overview on public policy analysis focused on the study of Brazilian public policy making process. The methodology is based on the review of some theories on the subject, linking them to Brazilian reality. The study presents basic policy analysis concepts, such as policy, polity and politics. It is emphasized John Kingdon's Multiple Stream Model, because of its clarifying aspects concerning public policies formulation process in democratic countries. In this path it was possible to establish interpretations on environmental public policies in Brazil and understand its methods, instead of presenting only a case study. At the end, it is possible to connect theory with Brazilian reality, identifying negative and positive points of its political processes and structure.

Keywords: Brazilian policies, environmental public policy, multiple stream model, public policy analysis.

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Authors: A. Boudjemai, A. Zafrane, R. Hocine

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Honeycomb sandwich panels are increasingly used in the construction of space vehicles because of their outstanding strength, stiffness and light weight properties. However, the use of honeycomb sandwich plates comes with difficulties in the design process as a result of the large number of design variables involved, including composite material design, shape and geometry. Hence, this work deals with the presentation of an optimal design of hexagonal honeycomb sandwich structures subjected to space environment. The optimization process is performed using a set of algorithms including the gravitational search algorithm (GSA). Numerical results are obtained and presented for a set of algorithms. The results obtained by the GSA algorithm are much better compared to other algorithms used in this study.

Keywords: Optimization, Gravitational search algorithm, Genetic algorithm, Honeycomb plate.

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Authors: Yasusi Kanada

Abstract:

Objects are usually horizontally sliced when printed by 3D printers. Therefore, if an object to be printed, such as a collection of fibers, originally has natural direction in shape, the printed direction contradicts with the natural direction. By using proper tools, such as field-oriented 3D paint software, field-oriented solid modelers, field-based tool-path generation software, and non-horizontal FDM 3D printers, the natural direction can be modeled and objects can be printed in a direction that is consistent with the natural direction. This consistence results in embodiment of momentum or force in expressions of the printed object. To achieve this goal, several design and manufacturing problems, but not all, have been solved. An application of this method is (Japanese) 3D calligraphy.

Keywords: 3D printing, Three-dimensional printing, Solid free-form fabrication, SFF, Fused deposition modeling, FDM, Additive manufacturing.

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Authors: R. Ramli, S. Sameon

Abstract:

There has been a strong link between computermediated education and constructivism learning and teaching theory.. Acknowledging how well the constructivism doctrine would work online, it has been established that constructivist views of learning would agreeably correlate with the philosophy of open and distance learning. Asynchronous and synchronous communications have placed online learning on the right track of a constructive learning path. This paper is written based on the social constructivist framework, where knowledge is constructed from social communication and interaction. The study explores the possibility of practicing this theory through incorporating online discussion in the syllabus and the ways it can be implemented to contribute to young people-s personality and social development by addressing some aspects that may contribute to the social problem such as prejudice, ignorance and intolerance.

Keywords: Educational Technology, Internet, Personal Development, Student Exchange

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Authors: A. Bazoula, H. Maaref

Abstract:

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: Zane Bulderberga

Abstract:

Spatial dimension in development planning is becoming more topical in 21^st century as a result of changes in population structure. Sustainable spatial development focuses on identifying and using territorial advantages to foster the harmonized development of the entire country, reducing negative effects of population concentration, increasing availability and mobility. EU and national development planning documents state polycentrism as main tool for balance spatial development, including investment concentration in growth centres. If mutual cooperation of growth centres as well as urban–rural cooperation is not fostered, then territorial differences can deepen and create unbalanced development.

The aim of research: to evaluate the urban–rural interaction, elaborating spatial development scenarios in framework of Latvian regional policy. To perform the research monographic, comparison, abstract–logical method, synthesis and analysis will be used when studying the theoretical aspects of research aiming at collecting the ideas of scientists from different countries, concepts, regulations as well as to create meaningful scientific discussion. Hierarchy analysis process (AHP) will be used to state further scenarios of spatial development in Latvia.

Experts from various institutions recognized urban – rural interaction and co-operation as an essential tool for the development. The most important factors for balanced spatial development in Latvia are availability of public transportation and improvement of service availability. Evaluating the three alternative scenarios, it was concluded that the urban – rural partnership will ensure a balanced development in Latvian regions.

Keywords: Rural – urban interaction, rural – urban cooperation, spatial development, AHP.

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Authors: R. Uporn, P. Luangpaiboon

Abstract:

This paper presents a comparative study of statistical methods for the multi-response surface optimization of a cryogenic freezing process. Taguchi design and analysis and steepest ascent methods based on the desirability function were conducted to ascertain the influential factors of a cryogenic freezing process and their optimal levels. The more preferable levels of the set point, exhaust fan speed, retention time and flow direction are set at -90oC, 20 Hz, 18 minutes and Counter Current, respectively. The overall desirability level is 0.7044.

Keywords: Cryogenic Freezing Process, Taguchi Design and Analysis, Response Surface Method, Steepest Ascent Method and Desirability Function Approach.

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Authors: Alexandra Gheorghiu, Marie-Line Félonneau

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

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

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Authors: E. Mat Tokit, Yusoff M. Z, Mohammed H.

Abstract:

Numerical investigation on the generality of nanoparticle velocity equation had been done on the previous published work. The three dimensional governing equations (continuity, momentum and energy) were solved using finite volume method (FVM). Parametric study of thermal performance between pure water-cooled and nanofluid-cooled are evaluated for volume fraction in the range of 1% to 4%, and nanofluid type of gamma-Al₂O₃ at Reynolds number range of 67.41 to 286.77. The nanofluid is modeled using single and two phase approach. Three different existing Brownian motion velocities are applied in comparing the generality of the equation for a wide parametric condition. Deviation in between the Brownian motion velocity is identified to be due to the different means of mean free path and constant value used in diffusion equation.

Keywords: Brownian nanoparticle velocity, heat transfer enhancement, nanofluid, two phase model.

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Authors: Lv Xiaopeng, Bian Qiang, Yue Suge

Abstract:

A fully on-chip low drop-out (LDO) voltage regulator with 100pF output load capacitor is presented. A novel frequency compensation scheme using current buffer is adopted to realize single dominant pole within the unit gain frequency of the regulation loop, the phase margin (PM) is at least 50 degree under the full range of the load current, and the power supply rejection (PSR) character is improved compared with conventional Miller compensation. Besides, the differentiator provides a high speed path during the load current transient. Implemented in 0.18μm CMOS technology, the LDO voltage regulator provides 100mA load current with a stable 1.8V output voltage consuming 80μA quiescent current.

Keywords: capacitor-less LDO, frequency compensation, transient response, power supply rejection

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Authors: Nardine El Bardisy, Wolf Reuter, Ayat Ismail

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In Egypt, there is continuous housing demand as a result of rapid population growth. In 1979, this forced the government to establish new urban communities in order to decrease stress around delta. New Urban Communities Authority (NUCA) was formulated to take the responsibly of this new policy. These communities suffer from social life deficiency due to their typology, which is separated island with barriers. New urban communities’ typology results from the influence of neoliberalism movement and modern city planning forms. The lack of social interaction in these communities at present should be enhanced in the future. On a global perspective, sustainable development calls for creating more sustainable communities which include social, economic and environmental aspects. From 1960, planners were highly focusing on the promotion of the social dimension in urban development plans. The research hypothesis states: “It is possible to promote social interaction in new urban communities through a set of socio-spatial recommended strategies that are tailored for Greater Cairo Region context”. In order to test this hypothesis, the case of El-Sherouk city is selected, which represents the typical NUCA development plans. Social interaction indicators were derived from literature and used to explore different social dynamics in the selected case. The tools used for exploring case study are online questionnaires, face to face questionnaires, interviews, and observations. These investigations were analyzed, conclusions and recommendations were set to improve social interaction.

Keywords: New urban communities, modern planning, social Interaction, Social life.

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Authors: Dong Wook Lee

Abstract:

This paper describes a method for analyzing penetration for composite material using an explicit nonlinear Finite Element Analysis (FEA). This method may be used in the early stage of design for the protection of military vehicles, aircraft engines and nuclear power plant structures made of composite materials. This paper deals with simple ballistic penetration tests for composite materials and the FEA modeling method and results. The FEA was performed to interpret the ballistic field test phenomenon regarding the damage propagation in the structure subjected to local foreign object impact.

Keywords: Computer Aided Engineering, CAE, Finite Element Analysis, FEA, impact analysis, penetration analysis, composite material.

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Authors: Sangbum Park, Youngjoon Han

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This paper proposes a balance control scheme for a biped robot to trace an arbitrary path using image information. While moving, it estimates the zero moment point(ZMP) of the biped robot in the next step using a Kalman filter and renders an appropriate balanced pose of the robot. The ZMP can be calculated from the robot's pose, which is measured from the reference object image acquired by a CCD camera on the robot's head. For simplifying the kinematical model, the coordinates systems of individual joints of each leg are aligned and the robot motion is approximated as an inverted pendulum so that a simple linear dynamics, 3D-LIPM(3D-Linear Inverted Pendulum Mode) can be applied. The efficiency of the proposed algorithm has been proven by the experiments performed on unknown trajectory.

Keywords: Biped robot, Zero moment point, Balance control, Kalman filter.

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Authors: Arash Hassanpour Isfahani, Siavash Sadeghi

Abstract:

Permanent magnet synchronous machines are known as a good candidate for hybrid electric vehicles due to their unique merits. However they have two major drawbacks i.e. high cost and small speed range. In this paper an optimal design of a permanent magnet machine is presented. A reduction of permanent magnet material for a constant torque and an extension in speed and torque ranges are chosen as the optimization aims. For this purpose the analytical model of the permanent magnet synchronous machine is derived and the appropriate design algorithm is devised. The genetic algorithm is then employed to optimize some machine specifications. Finally the finite element method is used to validate the designed machine.

Keywords: Design, Finite Element, Hybrid electric vehicle, Optimization, Permanent magnet synchronous machine.

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Authors: Mehmet Savsar

Abstract:

Facility location problem involves locating a facility to optimize some performance measures. Location of a public facility to serve the community, such as a fire station, significantly affects its service quality. Main objective in locating a fire station is to minimize the response time, which is the time duration between receiving a call and reaching the place of incident. In metropolitan areas, fire vehicles need to cross highways and other traffic obstacles through some obstacle-overcoming points which delay the response time. In this paper, fire station location problem is analyzed. Simulation models are developed for the location problems which involve obstacles. Particular case problems are analyzed and the results are presented.

Keywords: Public Facility Location, Fire Stations, Response Time, Fire Vehicle Delays.

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Authors: R. G. Ramírez-Chavarría, C. Sánchez-Pérez, V. Argueta-Díaz

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In this paper we present the design of an optical device based on a Herriott multi-pass cell fabricated on a small sized acrylic slab for heat flux measurements using the deflection of a laser beam propagating inside the cell. The beam deflection is produced by the heat flux conducted to the acrylic slab due to a gradient in the refractive index. The use of a long path cell as the sensitive element in this measurement device, gives the possibility of high sensitivity within a small size device. We present the optical design as well as some experimental results in order to validate the device’s operation principle.

Keywords: Heat flux, herriott cell, optical beam deflection, thermal conductivity.

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Authors: Vladislav A. Nazukin, Valery G. Avgustinovich, Vakhtang V. Tsatiashvili

Abstract:

The most important part of modern lean low NOx combustors is a premixer where swirlers are often used for intensification of mixing processes and further formation of required flow pattern in combustor liner. Swirling flow leads to formation of complex eddy structures causing flow perturbations. It is able to cause combustion instability. Therefore, at design phase, it is necessary to pay great attention to aerodynamics of premixers. Analysis based on unsteady CFD modeling of swirling flow in production combustor swirler showed presence of large number of different eddy structures that can be conditionally divided into three types relative to its location of origin and a propagation path. Further, features of each eddy type were subsequently defined. Comparison of calculated and experimental pressure fluctuations spectrums verified correctness of computations.

Keywords: DES simulation, swirler, vortical structures.

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Authors: Shahlan Surat, Saemah Rahman, Saadiah Kummin

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When teachers reflect and evaluate whether their teaching methods actually have an impact on students’ learning, they will adjust their practices accordingly. This inevitably improves their students’ learning and performance. The approach in meta-teaching can invigorate and create a passion for teaching. It thus helps to increase the commitment and love for the teaching profession. This study was conducted to determine the level of metacognitive thinking of teachers in the process of teaching and learning in the classroom. Metacognitive thinking teachers include the use of metacognitive knowledge which consists of different types of knowledge: declarative, procedural and conditional. The ability of the teachers to plan, monitor and evaluate the teaching process can also be determined. This study was conducted on 377 graduate teachers in Klang Valley, Malaysia. The stratified sampling method was selected for the purpose of this study. The metacognitive teaching inventory consisting of 24 items is called InKePMG (Teacher Indicators of Effectiveness Meta-Teaching). The results showed the level of mean is high for two components of metacognitive knowledge; declarative knowledge (mean = 4.16) and conditional (mean = 4.11) whereas, the mean of procedural knowledge is 4.00 (moderately high). Similarly, the level of knowledge in monitoring (mean = 4.11), evaluating (mean = 4.00) which indicate high score and planning (mean = 4.00) are moderately high score among teachers. In conclusion, this study shows that the planning and procedural knowledge is an important element in improving the quality of teachers teaching in the classroom. Thus, the researcher recommended that further studies should focus on training programs for teachers on metacognitive skills and also on developing creative thinking among teachers.

Keywords: Metacognitive thinking skills, procedural knowledge, conditional knowledge, declarative knowledge, meta-teaching and regulation of cognitive.

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Authors: G. Meccariello, L. Della Ragione

Abstract:

The exposure to outdoor air pollution causes lung cancer and increases the risk of bladder cancer. Because air pollution in urban areas is mainly caused by transportation, it is necessary to evaluate pollutant exhaust emissions from vehicles during their realworld use. Nevertheless their evaluation and reduction is a key problem, especially in the cities, that account for more than 50% of world population. A particular attention was given to the slope variability along the streets during each journey performed by the instrumented vehicle. In this paper we dealt with the problem of describing a quantitatively approach for the reconstruction of GPS coordinates and altitude, in the context of correlation study between driving cycles / emission / geographical location, during an experimental campaign realized with some instrumented cars. Finally the slope analysis can be correlated to the emission and consumption values in a specific road position, and it could be evaluated its influence on their behaviour.

Keywords: Air pollution, Driving cycles, GPS signal, Slope, Emission factor, fuel consumption.

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Authors: Yip-Mei Loh

Abstract:

Jesus and Socrates shared a remarkable gift; a channel of inner spiritual communication, to afford them truthful guidance in their respective religious discourse. Jesus is part of the Trinity; he is the Son, the Son of God. In mortal life he is the son of a carpenter. He called on all peoples to repent of their sins but fell foul of the authorities and was crucified. Socrates was an ancient Greek philosopher and the son of an artisan. His mission is to drive the Athenians to investigate truth, but he too incurs the displeasure of fellow citizens, to the extent of execution. The accusations made against them centre around, in Jesus’ case, proclaiming himself the Son of God, with the means to pardon, and in Socrates’, that a daimonion, an inner voice, speaks to him in his heart. Jesus talks with God directly through prayer, as the pneuma of God, i.e. to pneuma to hagion, or Holy Spirit, is with him. Socrates seems to enter what we would now think of as a trance-like condition, wherein he communicates with his inner daimonion, who directs him to take courage on the righteous path.

Keywords: Daimonion, God, Holy Spirit, life, truth.

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