Search results for: mobile touch device

Authors: Khaja Kamaluddin, Muhammed Yousoof

Abstract:

Available Bit Rate Service (ABR) is the lower priority service and the better service for the transmission of data. On wireline ATM networks ABR source is always getting the feedback from switches about increase or decrease of bandwidth according to the changing network conditions and minimum bandwidth is guaranteed. In wireless networks guaranteeing the minimum bandwidth is really a challenging task as the source is always in mobile and traveling from one cell to another cell. Re establishment of virtual circuits from start to end every time causes the delay in transmission. In our proposed solution we proposed the mechanism to provide more available bandwidth to the ABR source by re-usage of part of old Virtual Channels and establishing the new ones. We want the ABR source to transmit the data continuously (non-stop) inorderto avoid the delay. In worst case scenario at least minimum bandwidth is to be allocated. In order to keep the data flow continuously, priority is given to the handoff ABR call against new ABR call.

Keywords: Bandwidth allocation, Virtual Channel (VC), CBR, ABR, MCR and QOS.

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Authors: Shen Jian, Hu Jie, Ma Jin, Peng Ying Hong, Fang Yi, Liu Wen Hai

Abstract:

Biologically inspired design inspires inventions and new technologies in the field of engineering by mimicking functions, principles, and structures in the biological domain. To deal with the obstacles of cross-domain knowledge acquisition in the existing biologically inspired design process, functional semantic clustering based on functional feature semantic correlation and environmental constraint clustering composition based on environmental characteristic constraining adaptability are proposed. A knowledge cell clustering algorithm and the corresponding prototype system is developed. Finally, the effectiveness of the method is verified by the visual prosthetic device design.

Keywords: Knowledge based engineering, biologically inspired design, knowledge cell, knowledge clustering, knowledge acquisition.

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Authors: Hasliza A. Rahim, Fareq Malek, Nur A. M. Affendi, Azuwa Ali, Norshafinash Saudin, Latifah Mohamed

Abstract:

This paper presents the experimental investigation of on-body channel fading at 2.45 GHz considering two effects of the user body movement; stationary and mobile. A pair of body-worn antennas was utilized in this measurement campaign. A statistical analysis was performed by comparing the measured on-body path loss to five well-known distributions; lognormal, normal, Nakagami, Weibull and Rayleigh. The results showed that the average path loss of moving arm varied higher than the path loss in sitting position for upper-arm-to-left-chest link, up to 3.5 dB. The analysis also concluded that the Nakagami distribution provided the best fit for most of on-body static link path loss in standing still and sitting position, while the arm movement can be best described by log-normal distribution.

Keywords: On-Body channel communications, fading characteristics, statistical model.

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Authors: Salah Salmi, Karim Kemih, Malek Benslama

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Synchronization is a difficult problem in CDMA satellite communications. Due to the influence of additive noise and fading in the mobile channel, it is not easy to keep up with the attenuation and offset. This paper considers a recently proposed approach to solve the problem of synchronization chaotic Chen system in CDMA satellite communication in the presence of constant attenuation and offset. An analytic algorithm that provides closed form channel and carrier offset estimates is presented. The principle of this approach is based on adding a compensation block before the receiver to compensate the distortion of the imperfect channel by using genetic algorithm. The resultants presented, show that the receiver is able to recover rapidly the synchronization with the transmitter.

Keywords: Chaotic Chen system, genetic algorithm, Synchronization, CDMA

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Authors: M. Izadi, S. Hossainpour, D. Jalali-Vahid

Abstract:

Nanofluids are novel fluids that are going to have an important role in future industrial thermal device designs. Studies are being predominantly conducted on the mechanism of these heat transfers. The key to this attraction is in the increase in thermal conductivity brought about by the Nanofluids compared with the base fluid. Different models have been proposed for calculation of effective thermal conduction that has been gradually modified. In this investigation effect of nanolayer structure and Brownian motion of particles are studied and a new modified thermal conductivity model is proposed. Temperature, concentration, nanolayer thickness and particle size are taken as variables and their effect are studied simultaneously on the thermal conductivity of the fluids, showing the concentration of the nanoparticles to affect the nanolayer thickness which also affects the Brownian motion.

Keywords: Relative thermal conductivity, Brownian motion, Nanolayer structure.

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Authors: O. S. Omorogiuwa, E. J. Omozusi

Abstract:

The monitoring of spectrum usage and signal identification, using cognitive radio, is done to identify frequencies that are vacant for reuse. It has been established that ‘internet of things’ device uses secondary frequency which is free, thereby facing the challenge of interference from other users, where some primary frequencies are not being utilised. The design was done by analysing a specific frequency spectrum, checking if all the frequency stations that range from 87.5-108 MHz are presently being used in Benin City, Edo State, Nigeria. From the results, it was noticed that by using Software Defined Radio/Simulink, we were able to identify vacant frequencies in the range of frequency under consideration. Also, we were able to use the significance of energy detection threshold to reuse this vacant frequency spectrum, when the cognitive radio displays a zero output (that is decision H0), meaning that the channel is unoccupied. Hence, the analysis was able to find the spectrum hole and identify how it can be reused.

Keywords: Spectrum, interference, telecommunication, cognitive radio, frequency.

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Authors: Oluseye Adeniyi Adeleke, Mohd Fadzli Salleh

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Cooperative communication provides transmit diversity, even when, due to size constraints, mobile units cannot accommodate multiple antennas. A versatile cooperation method called coded cooperation has been developed, in which cooperation is implemented through channel coding with a view to controlling the errors inherent in wireless communication. In this work we evaluate the performance of coded cooperation in flat Rayleigh fading environment using a concept known as the pair wise error probability (PEP). We derive the PEP for a flat fading scenario in coded cooperation and then compare with the signal-to-noise ratio of the users in the network. Results show that an increase in the SNR leads to a decrease in the PEP. We also carried out simulations to validate the result.

Keywords: Channel state information, coded cooperation, cooperative systems, pairwise-error-probability, Reed-Solomon codes.

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Authors: M. M. Karkhanehchi, A. Ammani

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A simple analytical model has been developed to optimize biasing conditions for obtaining maximum linearity among lattice-matched, pseudomorphic and metamorphic HEMT types as well as enhancement and depletion HEMT modes. A nonlinear current-voltage model has been simulated based on extracted data to study and select the most appropriate type and mode of HEMT in terms of a given gate-source biasing voltage within the device so as to employ the circuit for the highest possible output current or voltage linear swing. Simulation results can be used as a basis for the selection of optimum gate-source biasing voltage for a given type and mode of HEMT with regard to a circuit design. The consequences can also be a criterion for choosing the optimum type or mode of HEMT for a predetermined biasing condition.

Keywords: Biasing, characteristic, linearity, simulation.

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Authors: Mustafa Abdalla, Khaled A. Madi, Rajab Farhat

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An array antenna system with innovative signal processing can improve the resolution of a source direction of arrival (DoA) estimation. High resolution techniques take the advantage of array antenna structures to better process the incoming waves. They also have the capability to identify the direction of multiple targets. This paper investigates performance of the DOA estimation algorithm namely; Capon and MUSIC on the uniform linear array (ULA). The simulation results show that in Capon and MUSIC algorithm the resolution of the DOA techniques improves as number of snapshots, number of array elements, signal-to-noise ratio and separation angle between the two sources θ increases.

Keywords: Antenna array, Capon, MUSIC, Direction-of-arrival estimation, signal processing, uniform linear arrays.

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Authors: Yi-Pin Hsu, Shin-Yu Lin

Abstract:

In order to protect original data, watermarking is first consideration direction for digital information copyright. In addition, to achieve high quality image, the algorithm maybe can not run on embedded system because the computation is very complexity. However, almost nowadays algorithms need to build on consumer production because integrator circuit has a huge progress and cheap price. In this paper, we propose a novel algorithm which efficient inserts watermarking on digital image and very easy to implement on digital signal processor. In further, we select a general and cheap digital signal processor which is made by analog device company to fit consumer application. The experimental results show that the image quality by watermarking insertion can achieve 46 dB can be accepted in human vision and can real-time execute on digital signal processor.

Keywords: watermarking, digital signal processor, embedded system

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Authors: R. Alageswaran, S. Selvakumar, P. Neelamegam

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Wireless Sensor Networks (WSN) are emerging because of the developments in wireless communication technology and miniaturization of the hardware. WSN consists of a large number of low-cost, low-power, multifunctional sensor nodes to monitor physical conditions, such as temperature, sound, vibration, pressure, motion, etc. The MAC protocol to be used in the sensor networks must be energy efficient and this should aim at conserving the energy during its operation. In this paper, with the focus of analyzing the MAC protocols used in wireless Adhoc networks to WSN, simulation experiments were conducted in Global Mobile Simulator (GloMoSim) software. Number of packets sent by regular nodes, and received by sink node in different deployment strategies, total energy spent, and the network life time have been chosen as the metric for comparison. From the results of simulation, it is evident that the IEEE 802.11 protocol performs better compared to CSMA and MACA protocols.

Keywords: CSMA, DCF, MACA, TelosB

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Authors: Noura Al-Ajmi, Mohammed A. Almulla

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With the increased utilization of technology devices around the world, healthcare and medical diagnosis are critical issues that people worry about these days. Doctors are doing their best to avoid any medical errors while diagnosing diseases and prescribing the wrong medication. Subsequently, artificial intelligence applications that can be installed on mobile devices such as rule-based expert systems facilitate the task of assisting doctors in several ways. Due to their many advantages, the usage of expert systems has increased recently in health sciences. This work presents a backward rule-based expert system that can be used for a headache diagnosis and medication recommendation system. The structure of the system consists of three main modules, namely the input unit, the processing unit, and the output unit.

Keywords: Headache diagnosis system, treatment recommender system, rule-based expert system.

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Authors: Norah Almubairik, Wadha Almattar, Amani Alqarni

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Social media applications are increasingly being used in our everyday communications. These applications utilise end-to-end encryption mechanisms which make them suitable tools for criminals to exchange messages. These messages are preserved in the volatile memory until the device is restarted. Therefore, volatile forensics has become an important branch of digital forensics. In this study, the WormHex tool was developed to inspect the memory dump files for Windows and Mac based workstations. The tool supports digital investigators by enabling them to extract valuable data written in Arabic and English through web-based WhatsApp and Twitter applications. The results confirm that social media applications write their data into the memory, regardless of the operating system running the application, with there being no major differences between Windows and Mac.

Keywords: Volatile memory, REGEX, digital forensics, memory acquisition

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Authors: Muhammad Tahir, Muhammad H. Sayyad, Dil N. Khan, Fazal Wahab

Abstract:

Herein, the organic semiconductor methyl orange (MO), is investigated for the first time for its electronic applications. For this purpose, Al/MO/n-Si heterojunction is fabricated through economical cheap and simple “drop casting” technique. The currentvoltage (I-V) measurements of the device are made at room temperature under dark conditions. The I-V characteristics of Al/MO/n-Si junction exhibits asymmetrical and rectifying behavior that confirms the formation of diode. The diode parameters such as rectification ratio (RR), turn on voltage (Vturn on), reverse saturation current (I0), ideality factor (n), barrier height ( b f ), series resistance (Rs) and shunt resistance (Rsh) are determined from I-V curves using Schottky equations. These values of these parameters are also extracted and verified by applying Cheung’s functions. The conduction mechanisms are explained from the forward bias I-V characteristics using the power law.

Keywords: Electrical properties, Organic/inorganic heterojunction diode, Methyl Orange, Cheungs Functions

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Authors: R. Geetha, G. Umarani Srikanth, S. Prabhu

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Wireless sensor networks are resource constrained networks, where energy is the major resource in such networks. Therefore, energy conservation is major aspect in the deployment of Wireless Sensor Network. This work makes use of an extended Greedy Perimeter Stateless Routing (eGPSR) protocol that mainly focuses on energy efficient data transmission. This data transmission is based on the fact that the message that is sent to a distant node consumes more energy than the message that is sent to a short range transmission. Every cluster contains a head set that consists of many virtual cluster heads. Routing is decided by head set members. The energy level of the received signal is the major constraint to choose head set from its members. The experimental result shows that the use of eGPSR in routing has improved throughput with comparatively less delay.

Keywords: eGPSR, energy efficiency, routing, wireless sensor networks, WSN.

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Authors: Myunghoun Jang, Yongkyu Yi

Abstract:

Appropriate selection of lifting equipments for a high-rise building construction project is one of the important factors to the project’s success. Proper position of a tower crane on a construction site is so important to be determined by an expert or an experienced construction manager who draws working range of a tower crane and moves it over a 2D (dimensional) site layout plan. But it is not usual to use 3D CAD, BIM or virtual reality for temporary facility planning or selection of a tower crane. This study proposes a method to use augmented reality to select proper position of tower cranes. An augmented reality prototype is implemented on a smart device to verify the practicability of the proposed method.

Keywords: Augmented Reality, Construction Planning, Site Layout, Temporary Facility Management, Tower Crane

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Authors: Lynette Drevin, Günther R. Drevin

Abstract:

Numerous threats have been identified when using social networks. The question is whether young people are aware of these negative impacts of online and mobile technologies. Will they identify threats when needed? Will they know where to get help? Students and school children were part of a survey where their behavior and use of Facebook and an instant messaging application - MXit were studied. This paper presents some of the results. It can be concluded that awareness on security and privacy issues should be raised. The benefit of doing such a survey is that it may help to direct educational efforts from a young age. In this way children – with their parents – can strive towards more secure behavior. Educators can focus their lessons towards the areas that need attention resulting in safer cyber interaction and ultimately more responsible online use.

Keywords: Facebook, Instant messaging, MXit, Privacy, Social networks Information Security awareness education, Trust.

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Authors: Ellips Masehian, Yalda Katebi

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This paper presents a new sensor-based online method for generating collision-free near-optimal paths for mobile robots pursuing a moving target amidst dynamic and static obstacles. At each iteration, first the set of all collision-free directions are calculated using velocity vectors of the robot relative to each obstacle and target, forming the Directive Circle (DC), which is a novel concept. Then, a direction close to the shortest path to the target is selected from feasible directions in DC. The DC prevents the robot from being trapped in deadlocks or local minima. It is assumed that the target's velocity is known, while the speeds of dynamic obstacles, as well as the locations of static obstacles, are to be calculated online. Extensive simulations and experimental results demonstrated the efficiency of the proposed method and its success in coping with complex environments and obstacles.

Keywords: Dynamic Environment, Moving Target, RobotMotion Planning.

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Authors: Giovanni Aloisio, Lucio T. De Paolis, Luciana Provenzano, Lucio Colizzi, Gianluca Pantile

Abstract:

One of the essential requirements in order to have a realistic surgical simulator is real-time interaction by means of a haptic interface is. In fact, reproducing haptic sensations increases the realism of the simulation. However, the interaction need to be performed in real-time, since a delay between the user action and the system reaction reduces the user immersion. In this paper, we present a prototype of the coronary stent implant simulator developed in the HERMES Project; this system allows real-time interactions with a artery by means of a specific haptic device; thus the user can interactively navigate in a reconstructed artery and force feedback is produced when contact occurs between the artery walls and the medical instruments

Keywords: Collision Detection, Haptic Interface, Real-Time Interaction, Surgical Simulator.

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Authors: A.A.Sharizli, N.A.Abu Osman, A.A.Saifizul

Abstract:

An Automated Rapid Maxillary Expander (ARME) is a specially designed microcontroller-based orthodontic appliance to overcome the shortcomings imposed by the traditional maxillary expansion appliances. This new device is operates by automatically widening the maxilla (upper jaw) by expanding the midpalatal suture [1]. The ARME appliance that has been developed is a combination of modified butterfly expander appliance, micro gear, micro motor, and microcontroller to automatically produce light and continuous pressure to expand the maxilla. For this study, the functionality of the system is verified through laboratory tests by measure the forced applied to the teeth each time the maxilla expands. The laboratory test results show that the developed appliance meets the desired performance specifications consistently.

Keywords: Maxillary Expansion, Microcontroller, Automated, Orthodontist, Force Analysis.

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Authors: Satoru Fukuta, Masaki Ito, Takao Kawamura, Kazunori Sugahara

Abstract:

Recently, many web services to provide information for public transport are developed and released. They are optimized for mobile devices such a smartphone. We are also developing better path planning system for route buses and trains called “Bus-Net"[1]. However these systems only provide paths and related information before the user start moving. So we propose a context aware navigation to change the way to support public transport users. If we go to somewhere using many kinds of public transport, we have to know how to use them. In addition, public transport is dynamic system, and these have different characteristic by type. So we need information at real-time. Therefore we suggest the system that can support on user-s state. It has a variety of ways to help public transport users by each state, like turn-by-turn navigation. Context aware navigation will be able to reduce anxiety for using public transport.

Keywords: Navigation, Public Transport, Smartphone, User Experience.

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Authors: Djilani Kobibi Youcef Islam, Hadjeri Samir, Djehaf Mohamed Abdeldjalil

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The Flexible AC Transmission System (FACTS) technology is a new advanced solution that increases the reliability and provides more flexibility, controllability, and stability of a power system. The Unified Power Flow Controller (UPFC), as the most versatile FACTS device for regulating power flow, is able to control respectively transmission line real power, reactive power, and node voltage. The main purpose of this paper is to analyze the effect of the UPFC on the load flow, the power losses, and the voltage stability using NEPLAN software modules, Newton-Raphson load flow is used for the power flow analysis and the modal analysis is used for the study of the voltage stability. The simulation was carried out on the IEEE 14-bus test system.

Keywords: FACTS, load flow, modal analysis, UPFC, voltage stability.

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Authors: Lata Kiran Dey, Rajendra Kumar, Biren Karmakar

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Web Real-Time Communications is a collection of standards, and protocols, which provide real-time communications capabilities between web browsers and devices. This paper outlines the design and further implementation of a web real-time communications method on a secure web application having audio and video call capabilities. This proposed application may put up a system that will be able to work over both desktop as well as mobile browsers. Web Real-Time Communications (WebRTC) also gives a set of JavaScript standard Real-Time Communications (RTC) Application Programming Interfaces (APIs), which primarily work over the RTC framework. This helps to build a suitable communication application, which enables the audio, video, and message transfer between today’s modern browsers having WebRTC support.

Keywords: WebRTC, Session Initiation Protocol, SIP, RTC, JavaScript, Secure Real Time Protocol, SRTP, Secure Web Sockets, Browser.

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Authors: Mehmet Tahir Sandıkkaya, Bülent Örencik

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Many electronic voting systems, classified mainly as homomorphic cryptography based, mix-net based and blind signature based, appear after the eighties when zero knowledge proofs were introduced. The common ground for all these three systems is that none of them works without real time cryptologic calculations that should be held on a server. As far as known, the agent-based approach has not been used in a secure electronic voting system. In this study, an agent-based electronic voting schema, which does not contain real time calculations on the server side, is proposed. Conventional cryptologic methods are used in the proposed schema and some of the requirements of an electronic voting system are constructed within the schema. The schema seems quite secure if the used cryptologic methods and agents are secure. In this paper, proposed schema will be explained and compared with already known electronic voting systems.

Keywords: Electronic voting, E-voting, Mobile softwareagents, Offline electronic voting.

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Authors: Tsunwai Gary Yip

Abstract:

Phase locked loops for data links operating at 10 Gb/s or faster are low phase noise devices designed to operate with a low jitter reference clock. Characterization of their jitter transfer function is difficult because the intrinsic noise of the device is comparable to the random noise level in the reference clock signal. A linear model is proposed to account for the intrinsic noise of a PLL. The intrinsic noise data of a PLL for 10 Gb/s links is presented. The jitter transfer function of a PLL in a test chip for 12.8 Gb/s data links was determined in experiments using the 400 MHz reference clock as the source of simultaneous excitations over a wide range of frequency. The result shows that the PLL jitter transfer function can be approximated by a second order linear model.

Keywords: Intrinsic phase noise, jitter in data link, PLL jitter transfer function, high speed clocking in electronic circuit

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Authors: A. Mihoc, K. Cater

Abstract:

On the bridge of a ship the officers are looking for visual aids to guide navigation in order to reconcile the outside world with the position communicated by the digital navigation system. Aids to navigation include: Lighthouses, lightships, sector lights, beacons, buoys, and others. They are designed to help navigators calculate their position, establish their course or avoid dangers. In poor visibility and dense traffic areas, it can be very difficult to identify these critical aids to guide navigation. The paper presents the usage of Augmented Reality (AR) as a means to present digital information about these aids to support navigation. To date, nautical navigation related mobile AR applications have been limited to the leisure industry. If proved viable, this prototype can facilitate the creation of other similar applications that could help commercial officers with navigation. While adopting a user centered design approach, the team has developed the prototype based on insights from initial research carried on board of several ships. The prototype, built on Nexus 9 tablet and Wikitude, features a head-up display of the navigational aids (lights) in the area, presented in AR and a bird’s eye view mode presented on a simplified map. The application employs the aids to navigation data managed by Hydrographic Offices and the tablet’s sensors: GPS, gyroscope, accelerometer, compass and camera. Sea trials on board of a Navy and a commercial ship revealed the end-users’ interest in using the application and further possibility of other data to be presented in AR. The application calculates the GPS position of the ship, the bearing and distance to the navigational aids; all within a high level of accuracy. However, during testing several issues were highlighted which need to be resolved as the prototype is developed further. The prototype stretched the capabilities of Wikitude, loading over 500 objects during tests in a major port. This overloaded the display and required over 45 seconds to load the data. Therefore, extra filters for the navigational aids are being considered in order to declutter the screen. At night, the camera is not powerful enough to distinguish all the lights in the area. Also, magnetic interference with the bridge of the ship generated a continuous compass error of the AR display that varied between 5 and 12 degrees. The deviation of the compass was consistent over the whole testing durations so the team is now looking at the possibility of allowing users to manually calibrate the compass. It is expected that for the usage of AR in professional maritime contexts, further development of existing AR tools and hardware is needed. Designers will also need to implement a user-centered design approach in order to create better interfaces and display technologies for enhanced solutions to aid navigation.

Keywords: Compass error, GPS, maritime navigation, mobile augmented reality.

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Authors: Zsolt Dugár, Péter Barkóczy, Gábor Béres, Dávid Kis, Attila Bata, Tamás Dugár, Zoltán Weltsch

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This study is about the structural transformations of aluminium examining with the Dynamic Mechanical Thermal Analyzer (DMTA). It is a faster and simpler measuring method to make consequence about the metal’s structural transformations. The device measures the changing of the mechanical characteristics depending on the heating rate, and concludes certain transformations. This measuring method fast and shows clean-cut results comparing the conventional ways. Applying polymer measuring devices for metal investigations is not widespread method. One of the adaptable ways is shown in this study. The article compares the results of the small specimen test and the DMTA method, considering the temperature and the forming dependence of recrystallization temperature.

Keywords: DMTA, recrystallization, cold forming, rotation.

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Authors: Che Z. Zulkifli, Nursyahida M. Noor, Siti N. Semunab, Shafawati A. Malek

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Wireless sensors, also known as wireless sensor nodes, have been making a significant impact on human daily life. The Radio Frequency Identification (RFID) and Wireless Sensor Network (WSN) are two complementary technologies; hence, an integrated implementation of these technologies expands the overall functionality in obtaining long-range and real-time information on the location and properties of objects and people. An approach for integrating ZigBee and RFID networks is proposed in this paper, to create an energy-efficient network improved by the benefits of combining ZigBee and RFID architecture. Furthermore, the compatibility and requirements of the ZigBee device and communication links in the typical RFID system which is presented with the real world experiment on the capabilities of the proposed RFID system.

Keywords: Mesh network, RFID, wireless sensor network, zigbee.

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Authors: Kiyohiro Yamazaki

Abstract:

A purpose of this study is to examine how a firm without fundamental technology is able to gain the competitive advantage. This paper examines three case studies, Sony in the flat display TV industry, Casio in the digital camera industry and Nintendo in the home game machine industry. This paper maintain the firms without fundamental technology construct two advantages, economic advantage and organizational advantage. An economic advantage involves the firm can select either high-tech or cheap devices out of several device makers, and change the alternatives cheaply and quickly. In addition, organizational advantage means that a firm without fundamental technology is not restricted by organizational inertia and cognitive restraints, and exercises the characteristic of strength.

Keywords: Firm without fundamental technology, economic advantage, organizational advantage, Sony, Casio, Nintendo.

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Authors: Cheng-En Tsai, Chung-Chun Hsiao, Fu-Yuan Chang, Liang-Lun Lan, Jia-Ying Tu

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New design of three dimensional (3D) flywheel system based on gimbal and gyro mechanics is proposed. The 3D flywheel device utilizes the rotational motion of three spherical shells and the conservation of angular momentum to achieve planar locomotion. Actuators mounted to the ring-shape frames are installed within the system to drive the spherical shells to rotate, for the purpose of steering and stabilization. Similar to the design of 2D flywheel system, it is expected that the spherical shells may function like a “flyball” to store and supply mechanical energy; additionally, in comparison with typical single-wheel and spherical robots, the 3D flywheel can be used for developing omnidirectional robotic systems with better mobility. The Lagrangian method is applied to derive the equation of motion of the 3D flywheel system, and simulation studies are presented to verify the proposed design.

Keywords: Gimbal, spherical robot, gyroscope, Lagrangian formulation, flyball.

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