Search results for: PLS Path Modeling

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

Abstract:

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

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

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Authors: Aimilia P. Doukeli, Athanasios S. Lioumpas, George K. Karagiannidis, Panayiotis V. Frangos, P. Takis Mathiopoulos

Abstract:

In diversity rich environments, such as in Ultra- Wideband (UWB) applications, the a priori determination of the number of strong diversity branches is difficult, because of the considerably large number of diversity paths, which are characterized by a variety of power delay profiles (PDPs). Several Rake implementations have been proposed in the past, in order to reduce the number of the estimated and combined paths. To this aim, we introduce two adaptive Rake receivers, which combine a subset of the resolvable paths considering simultaneously the quality of both the total combining output signal-to-noise ratio (SNR) and the individual SNR of each path. These schemes achieve better adaptation to channel conditions compared to other known receivers, without further increasing the complexity. Their performance is evaluated in different practical UWB channels, whose models are based on extensive propagation measurements. The proposed receivers compromise between the power consumption, complexity and performance gain for the additional paths, resulting in important savings in power and computational resources.

Keywords: Adaptive Rake receivers, diversity techniques, fading channels, UWB channel.

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Authors: N. Santatriniaina, J. Deseure, T.Q. Nguyen, H. Fontaine, C. Beitia, L. Rakotomanana

Abstract:

Nowadays, with the increasing of the wafer's size and the decreasing of critical size of integrated circuit manufacturing in modern high-tech, microelectronics industry needs a maximum attention to challenge the contamination control. The move to 300 [mm] is accompanied by the use of Front Opening Unified Pods for wafer and his storage. In these pods an airborne cross contamination may occur between wafers and the pods. A predictive approach using modeling and computational methods is very powerful method to understand and qualify the AMCs cross contamination processes. This work investigates the required numerical tools which are employed in order to study the AMCs cross-contamination transfer phenomena between wafers and FOUPs. Numerical optimization and finite element formulation in transient analysis were established. Analytical solution of one dimensional problem was developed and the calibration process of physical constants was performed. The least square distance between the model (analytical 1D solution) and the experimental data are minimized. The behavior of the AMCs intransient analysis was determined. The model framework preserves the classical forms of the diffusion and convection-diffusion equations and yields to consistent form of the Fick's law. The adsorption process and the surface roughness effect were also traduced as a boundary condition using the switch condition Dirichlet to Neumann and the interface condition. The methodology is applied, first using the optimization methods with analytical solution to define physical constants, and second using finite element method including adsorption kinetic and the switch of Dirichlet to Neumann condition.

Keywords: AMCs, FOUP, cross-contamination, adsorption, diffusion, numerical analysis, wafers, Dirichlet to Neumann, finite elements methods, Fick’s law, optimization.

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Authors: Vishal Awasthi, Krishna Raj

Abstract:

Unwanted side effects because of spectral aliasing and spectral imaging during signal processing would be the major concern over the sampling rate alteration. Multirate-multistage implementation of digital filter could come about a large computational saving than single rate filter suitable for sample rate conversion. This implementation can further improve through high-level architectural transformation in circuit level. Reallocating registers and  relocating flip-flops across logic gates through retiming certainly a prominent sequential transformation technology, that optimize hardware circuits to achieve faster clocking speed without affecting the functionality. In this paper, we proposed an efficient compensated cascade Integrator comb (CIC) decimation filter structure that analyze the consequence of filter order variation which has a retimed FIR filter being compensator while using the cutset retiming technique and achieved an improvement in the passband droop by 14% to 39%, in computation time by 38.04%, 25.78%, 12.21%, 6.69% and 4.44% and reduction in path delay by 62.27%, 72%, 86.63%, 91.56% and 94.42% of 3, 6, 8, 12 and 24 order filter respectively than the non-retimed CIC compensation filter.

Keywords: Multirate Filtering, CIC decimation filter, Compensation theory, Retiming, Retiming algorithm, Filter order, Synchronous dataflow graph.

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Authors: J. X. Dong, C. J. An, Z. Chen, E. H. Owens, M. C. Boufadel, E. Taylor, K. Lee

Abstract:

Shorelines are vulnerable to significant environmental impacts from oil spills. Stranded oil can cause potential short- to long-term detrimental effects along beaches that include injuries to ecosystem, socio-economic and cultural resources. In this study, a three-dimensional (3D) numerical modeling approach is developed to evaluate the fate and transport of spilled oil for hypothetical oiled shoreline cases under various combinations of beach geomorphology and environmental conditions. The developed model estimates the spatial and temporal distribution of spilled oil for the various test conditions, using the finite volume method and considering the physical transport (dispersion and advection), sinks, and sorption processes. The model includes a user-friendly interface for data input on variables such as beach properties, environmental conditions, and physical-chemical properties of spilled oil. An experimental meso-scale tank design was used to test the developed model for dissolved petroleum hydrocarbon within shorelines. The simulated results for effects of different sediment substrates, oil types, and shoreline features for the transport of spilled oil are comparable to that obtained with a commercially available model. Results show that the properties of substrates and the oil removal by shoreline effects have significant impacts on oil transport in the beach area. Sensitivity analysis, through the application of the one-step-at-a-time method (OAT), for the 3D model identified hydraulic conductivity as the most sensitive parameter. The 3D numerical model allows users to examine the behavior of oil on and within beaches, assess potential environmental impacts, and provide technical support for decisions related to shoreline clean-up operations.

Keywords: dissolved petroleum hydrocarbons, environmental multimedia model, finite volume method, FVM, sensitivity analysis, total petroleum hydrocarbons, TPH

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Authors: Mikkel Snorre Wilms Boysen

Abstract:

From a theoretical perspective, expertise is generally considered a precondition for creativity. The assumption is that an individual needs to master the common and accepted rules and techniques within a certain knowledge-domain in order to create something new and valuable. However, real life cases, and a limited amount of empirical studies, demonstrate that this assumption may be overly simple. In this article, this question is explored through a number of semi-experimental case studies conducted within the fields of music, technology, and youth culture. The studies indicate that, in various ways, expertise plays an important part in creative processes. However, the case studies also indicate that expertise sometimes leads to an entrenched perspective, in the sense that knowledge and experience may work as a path into the well-known rather than into the unknown. In this article, these issues are explored with reference to different theoretical approaches to creativity and learning, including actor-network theory, the theory of blind variation and selective retention, and Csikszentmihalyi’s system model. Finally, some educational aspects and implications of this are discussed.

Keywords: Creativity, education, expertise, technology.

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Authors: Rinaldo Christian Tanumara, Ming Xie

Abstract:

Color categorization is shared among members in a society. This allows communication of color, especially when using natural language such as English. Hence sociable robot, to live coexist with human in human society, must also have the shared color categorization. To achieve this, many works have been done relying on modeling of human color perception and mathematical complexities. In contrast, in this work, the computer as brain of the robot learns color categorization through interaction with humans without much mathematical complexities.

Keywords: Color categorization, color learning, machinelearning.

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Authors: Laura Álvarez Antón, Joaquín Díaz

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The construction industry is turning towards sustainability. It is a well-known fact that sustainability is based on a balance between environmental, social and economic aspects. In order to achieve sustainability efficiently, these three criteria should be taken into account in the initial project phases, since that is when a project can be influenced most effectively. Thus the aim must be to integrate important tools like BIM and LCA at an early stage in order to make full use of their potential. With the synergies resulting from the integration of BIM and LCA, a wider approach to sustainability becomes possible, covering the three pillars of sustainability.

Keywords: Building Information Modeling (BIM), Construction Industry, Design Phase, Life Cycle Assessment (LCA), Sustainability.

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Authors: Francois T. Pronk, Steven J. Hulshoff

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A study of various turbulent inflow generation methods was performed to compare their relative effectiveness for LES computations of turbulent boundary layers. This study confirmed the quality of the turbulent information produced by the family of recycling and rescaling methods which take information from within the computational domain. Furthermore, more general inflow methods also proved applicable to such simulations, with a precursor-like inflow and a random inflow augmented with forcing planes showing promising results.

Keywords: Boundary layer, Flat plate, Inflow modeling, LES

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Authors: Balamurugan Baladhandapani, Ganesh Renganathan, V. R. Sanal Kumar

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In this paper a comprehensive review on various factory layouts has been carried out for designing a lucrative process layout for medium scale industries. Industry data base reveals that the end product rejection rate is on the order of 10% amounting large profit loss. In order to avoid these rejection rates and to increase the quality product production an intermediate non-destructive testing facility (INDTF) has been recommended for increasing the overall profit. We observed through detailed case studies that while introducing INDTF to medium scale industries the expensive production process can be avoided to the defective products well before its final shape. Additionally, the defective products identified during the intermediate stage can be effectively utilized for other applications or recycling; thereby the overall wastage of the raw materials can be reduced and profit can be increased. We concluded that the prudent design of a factory layout through critical path method facilitating with INDTF will warrant profitable outcome.

Keywords: Intermediate Non-destructive testing, Medium scale industries, Process layout design.

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Authors: Yasusi Kanada

Abstract:

When printing a plate (or dish) by an FDM 3D printer, the process normally requires support material, which causes several problems. This paper proposes a method for forming thin plates without using wasteful support material. This method requires several extraordinary parameter values when slicing plates. The experiments show that the plates can, for the most part, be successfully formed using a conventional slicer and a 3D printer; however, seams between layers spoil them and the quality of printed objects strongly depends on the slicer.

Keywords: Fused deposition modeling (FDM), 3D printing, Support-less, Layer seam, Slicer.

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Authors: Marina Sartor Hoffer

Abstract:

The multicultural composition of today's societies poses new challenges to educational contexts. Schools are therefore called first to develop dialogic aptitudes and communicative skills adapted to the complex reality of post-modern societies. It is indispensable for educators and for young people to learn theoretical and practical tools during their scholastic path, in order to allow the knowledge of themselves and of the others with the aim of recognizing the value of the others regardless of their culture. Dialogic Skills help to understand and manage individual differences by allowing the solution of problems and preventing conflicts. The Educational Sector of Eric Berne’s Transactional Analysis offers a range of methods and techniques for this purpose. Educational Transactional Analysis is firmly anchored in the Personalist Philosophy and deserves to be promoted as a theoretical frame suitable to face the challenges of contemporary education. The goal of this paper is therefore to outline some conceptual and methodological signposts for the education to dialogue by drawing concepts and methodologies from educational transactional analysis.

Keywords: Dialogic process, education to dialogue, educational transactional analysis, personalism, the good of the relationship.

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Authors: R. Usubamatov

Abstract:

The velocity of a moving point in a general path is the vector quantity, which has both magnitude and direction. The magnitude or the direction of the velocity vector can change over time as a result of acceleration that the time rate of velocity changes. Acceleration analysis is important because inertial forces and inertial torques are proportional to rectilinear and angular accelerations accordingly. The loads must be determined in advance to ensure that a machine is adequately designed to handle these dynamic loads. For planar motion, the vector direction of acceleration is commonly separated into two elements: tangential and centripetal or radial components of a point on a rotating body. All textbooks in physics, kinematics and dynamics of machinery consider the magnitude of a radial acceleration at condition when a point rotates with a constant angular velocity and it means without acceleration. The magnitude of the tangential acceleration considered on a basis of acceleration for a rotating point. Such condition of presentation of magnitudes for two components of acceleration logically and mathematically is not correct and may cause further confusion in calculation. This paper presents new analytical expressions of the radial and absolute accelerations of a rotating point with acceleration and covers the gap in theoretical study of acceleration analysis.

Keywords: acceleration analysis, kinematics of mechanisms.

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Authors: Yagya Sharma, Basanta K. Rana, Arup K. Das

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Rotary entrainment is a phenomenon in which the interface of two immiscible fluids are subjected to external flux by means of rotation. Present work reports the experimental study on rotary motion of a horizontal cylinder between the interface of air and water to observe the penetration of gas inside the liquid. Experiments have been performed to establish entrainment of air mass in water alongside the cylindrical surface. The movement of tracer and seeded particles has been tracked to calculate the speed and path of the entrained air inside water. Simplified particle image velocimetry technique has been used to trace the movement of particles/tracers at the moment they are injected inside the entrainment zone and suspended beads have been used to replicate the particle movement with respect to time in order to determine the flow dynamics of the fluid along the cylinder. Present paper establishes a thorough experimental analysis of the rotary entrainment phenomenon between air and water keeping in interest the extent to which we can intermix the two and also to study its entrainment trajectories.

Keywords: Entrainment, gas-liquid flow, particle image velocimetry, stratified layer mixing.

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Authors: H. K. Sachidananda, K. Raghunandana, B. Shivamurthy

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The estimation of gear tooth stiffness is important for finding the load distribution between the gear teeth when two consecutive sets of teeth are in contact. Based on dynamic model a C-program has been developed to compute mesh stiffness. By using this program position dependent mesh stiffness of spur gear tooth for various profile shifts have been computed for a fixed center distance and altering tooth-sum gearing (100 by ± 4%). It is found that the C-program using dynamic model is one of the rapid soft computing technique which helps in design of gears. The mesh tooth stiffness along the path of contact is studied for both 20° and 25° pressure angle gears at various profile shifts. Better tooth stiffness is noticed in case of negative alteration tooth-sum gears compared to standard and positive alteration tooth-sum gears. Also, in case of negative alteration tooth-sum gearing better mesh stiffness is noticed in 20° pressure angle when compared to 25°.

Keywords: Altered tooth-sum gearing, bending fatigue, mesh stiffness, spur gear.

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Authors: N. Azhikhanov, T. Turimbetov, Zh. Masanov, N. Zhunisov

Abstract:

It can be determined in preference between representative mechanical and mathematical model of elasticcreeping deformation of transversally isotropic array with doubly periodic system of tilted slots, and offer of the finite elements calculation scheme, and inspection of the states of two diagonal arbitrary profile cavities of deep inception, and in setting up the tense and dislocation fields distribution nature in computing processes.

Keywords: Mathematical model, tunnel, transversally isotropic, finite elements.

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Authors: Rahim Jafari, Tuba Okutucu-Özyurt

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The hydrodynamics and heat transfer characteristics of a vaporized elongated bubble in a rectangular microchannel have been simulated based on Cahn-Hilliard phase-field method. In the simulations, the initially nucleated bubble starts growing as it comes in contact with superheated water. The growing shape of the bubble compared well with the available experimental data in the literature.

Keywords: Microchannel, boiling, Cahn-Hilliard method, Two-phase flow, Simulation.

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Authors: Jaipal Bisht, Aditya Goel

Abstract:

Optical Burst Switching (OBS) is a promising technology for the future generation Internet. Control architecture and Contention resolution are the main issues faced by the Optical Burst Switching networks. In this paper we are only taking care of the Contention problem and to overcome this issue we propose Pre-Deflection Routing with Control Packet Signal Scheme for Contention Resolution in Optical Burst Switch Networks. In this paper Pre-deflection routing approach has been proposed in which routing is carried out in two ways, Shortest Path First (SPF) and Least Hop First (LHF) Routing to forward the clusters and canoes respectively. Hereafter Burst Offset Time Control Algorithm has been proposed where a forward control packet (FCP) collects the congestion price and contention price along its paths. Thereafter a reverse-direction control packet (RCP) sent by destination node which delivers the information of FCP to the source node, and source node uses this information to revise its offset time and burst length.

Keywords: Contention Resolution, FCP, OBS, Offset Time, PST, RCP.

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Authors: Huei-Fu Lu

Abstract:

This study links up the theories of social psychology, economics and sport management to assess the impact of sport participation on subjective well-being (SWB) and use a simple statistic method to estimate the relative monetary value that sport participation derives SWB for Taiwan-s college students. By constructing proper measurements on sport participation and SWB respectively, a structural equation model (SEM) is developed to perform a confirmatory factory analysis, and the causal relationship between sport participation and SWB as well as the effect of the demographic variables on these two concepts are also discussed.

Keywords: Demographics, Economic value, Sport participation, Structural equation modeling (SEM), Subjective well-being.

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Authors: I. Martins, A. Martins

Abstract:

The European Union supports social and civil competencies as being a core element to develop sustainability of organizations, people and regions. These competencies are fundamental for the well-being of the community because they include interpersonal, intrapersonal as well as their civil, active and democratic participation in organizations. The combination of these competencies reveals the organizational socio-emotional maturity and allows relevant levels of performance. It also allows the development of various capitals, namely, human, structural, relational and social, with direct influence on performance. But along this path, the emotional aspect has not been valued as a capital, given that contemporary society is based on knowledge capital and is flooded with information viewed as a capital. The present study, based on the importance of these socio-emotional capitals, aims to show that the competencies of cooperation, interpersonal understanding, empathy, kindness, ability to listen, and tolerance, to mention a few, are strategic in consolidating knowledge within organizations. This implies that the humanizing processes, both inside and outside the organizations, are revitalized. The question is how to go about doing this and its implementation; as well as, where to begin and which guidelines to take on. These are the foci that guide the present study, bearing in mind the directions of the knowledge economy.

Keywords: Social competencies, civil competencies, humanizing, performance.

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Authors: Emmanuel O.O. Ojakominor, Tian F. Lai

Abstract:

A handful of propagation textbooks that discuss radio frequency (RF) propagation models merely list out the models and perhaps discuss them rather briefly; this may well be frustrating for the potential first time modeller who's got no idea on how these models could have been derived. This paper fundamentally provides an overture in modelling the radio channel. Explicitly, for the modelling practice discussed here, signal strength field measurements had to be conducted beforehand (this was done at 469 MHz); to be precise, this paper primarily concerns empirically/statistically modelling the radio channel, and thus provides results obtained from empirically modelling the environments in question. This paper, on the whole, proposes three propagation models, corresponding to three experimented environments. Perceptibly, the models have been derived by way of making the most use of statistical measures. Generally speaking, the first two models were derived via simple linear regression analysis, whereas the third have been originated using multiple regression analysis (with five various predictors). Additionally, as implied by the title of this paper, both indoor and outdoor environments have been experimented; however, (somewhat) two of the environments are neither entirely indoor nor entirely outdoor. The other environment, however, is completely indoor.

Keywords: RF propagation, radio channel modelling, statistical methods.

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Authors: Ahmad Abubakar Sadiq, Mark N. Nwohu, Jacob Tsado, Ahmad A. Ashraf, Agbachi E. Okenna, Enesi E. Yahaya, Ambafi James Garba

Abstract:

Transmission system performance analysis is vital to proper planning and operations of power systems in the presence of deregulation. Key performance indicators (KPIs) are often used as measure of degree of performance. This paper gives a novel method to determine the transmission efficiency by evaluating the ratio of real power losses incurred from a specified transfer direction. Available Transmission Transfer Efficiency (ATTE) expresses the percentage of real power received resulting from inter-area available power transfer. The Tie line (Rated system path) performance is seen to differ from system wide (Network response) performance and ATTE values obtained are transfer direction specific. The required sending end quantities with specified receiving end ATC and the receiving end power circle diagram are obtained for the tie line analysis. The amount of real power loss load relative to the available transfer capability gives a measure of the transmission grid efficiency.

Keywords: Available transfer capability, efficiency performance, real power, transmission system.

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Authors: Francisco Echarte, José Javier Astrain, Alberto Córdoba, Jesús Villadangos

Abstract:

Ontologies and tagging systems are two different ways to organize the knowledge present in the current Web. In this paper we propose a simple method to model folksonomies, as tagging systems, with ontologies. We show the scalability of the method using real data sets. The modeling method is composed of a generic ontology that represents any folksonomy and an algorithm to transform the information contained in folksonomies to the generic ontology. The method allows representing folksonomies at any instant of time.

Keywords: Folksonomies, ontologies, OWL, semantic web.

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Authors: Dchieche Amina, Aboulaich Rajae

Abstract:

Profit and loss sharing suggests an equitable sharing of risks and profits between the parts involved in a financial transaction. Salam is a contract in which advance payment is made for goods to be delivered at a future date. The purpose of this work is to price a new contract for profit and loss sharing based on Salam contract, using Khiyar Al Ghabn which is an agreement of choice in case of misrepresent facts.

Keywords: Islamic finance, Shariah compliance, profit and loss sharing, derivatives, risks, hedging, salam contract.

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Authors: R. Asokan, A. M. Natarajan

Abstract:

Mobile adhoc network (MANET) is a collection of mobile devices which form a communication network with no preexisting wiring or infrastructure. Multiple routing protocols have been developed for MANETs. As MANETs gain popularity, their need to support real time applications is growing as well. Such applications have stringent quality of service (QoS) requirements such as throughput, end-to-end delay, and energy. Due to dynamic topology and bandwidth constraint supporting QoS is a challenging task. QoS aware routing is an important building block for QoS support. The primary goal of the QoS aware protocol is to determine the path from source to destination that satisfies the QoS requirements. This paper proposes a new energy and delay aware protocol called energy and delay aware TORA (EDTORA) based on extension of Temporally Ordered Routing Protocol (TORA).Energy and delay verifications of query packet have been done in each node. Simulation results show that the proposed protocol has a higher performance than TORA in terms of network lifetime, packet delivery ratio and end-to-end delay.

Keywords: EDTORA, Mobile Adhoc Networks, QoS, Routing, TORA

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Authors: Manuela Nayantara Jeyaraj

Abstract:

'Digital Divide' is a concept that has existed in this paradigm ever since the discovery of the first-generation technologies. Before the turn of the century, it was basically used to describe the gap between those with telephone communication access and those without it. At present, it is plainly descriptive in itself to illustrate the cavity among those with Internet access and those without. Though the concept of digital divide has been merely lying in sight for as long as time itself, the friction it caused has not yet been fully realized to solve major crisis situations. Unlike well-developed countries, Sri Lanka is still in the verge of moving farther away from a developing country in the race towards reaching a developed state. Access to technological resources varies from region to region, even within the island itself, with one region having a considerable percentage of its community exposed to the Internet and its related technologies, and the other unaware of such. Thus, this paper intends to analyze the roots for the still-extant gap instigated based on the concept of ‘Digital Divide’ and explores the plausible potentials that could be brought about by narrowing this prevailing percentage among the population, specifically entrenching the advantages reaped towards an economic augmentation and culture or lifestyle revolution on the path towards development.

Keywords: Communication, digital divide, society, Sri Lanka.

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Authors: Serin Lee, Takashi Kubota, Ichiro Nakatani

Abstract:

The approaches to make an agent generate intelligent actions in the AI field might be roughly categorized into two ways–the classical planning and situated action system. It is well known that each system have its own strength and weakness. However, each system also has its own application field. In particular, most of situated action systems do not directly deal with the logical problem. This paper first briefly mentions the novel action generator to situatedly extract a set of actions, which is likely to help to achieve the goal at the current situation in the relaxed logical space. After performing the action set, the agent should recognize the situation for deciding the next likely action set. However, since the extracted action is an approximation of the action which helps to achieve the goal, the agent could be caught into the deadlock of the problem. This paper proposes the newly developed hybrid architecture to solve the problem, which combines the novel situated action generator with the conventional planner. The empirical result in some planning domains shows that the quality of the resultant path to the goal is mostly acceptable as well as deriving the fast response time, and suggests the correlation between the structure of problems and the organization of each system which generates the action.

Keywords: Situated reasoning, situated action, planning, hybrid architecture

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Authors: Jarno Haapamäki, Juha Röning

Abstract:

Scale defects are common surface defects in hot steel rolling. The modelling of such defects is problematic and their causes are not straightforward. In this study, we investigated genetic algorithms in search for a mathematical solution to scale formation. For this research, a high-dimensional data set from hot steel rolling process was gathered. The synchronisation of the variables as well as the allocation of the measurements made on the steel strip were solved before the modelling phase.

Keywords: Genetic algorithms, hot strip rolling, knowledge discovery, modeling.

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Authors: Mousavian, M. Moghimi Mofrad, M. H. Vakili, D. Ashouri, R. Alizadeh

Abstract:

The aim of this research is to use artificial neural networks computing technology for estimating the net heating value (NHV) of crude oil by its Properties. The approach is based on training the neural network simulator uses back-propagation as the learning algorithm for a predefined range of analytically generated well test response. The network with 8 neurons in one hidden layer was selected and prediction of this network has been good agreement with experimental data.

Keywords: Neural Network, Net Heating Value, Crude Oil, Experimental, Modeling.

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Authors: A. Y. Bani Hashim, N. S. A. Ramdan

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Inconsistency in manual inspection is real because humans get tired after some time. Recent trends show that automatic inspection is more appealing for mass production inspections. In such as a case, a robot manipulator seems the best candidate to run a dynamic visual inspection. The purpose of this work is to estimate the optimum workspace where a robot manipulator would perform a visual inspection process onto a work piece where a camera is attached to the end effector. The pseudo codes for the planned path are derived from the number of tool transit points, the delay time at the transit points, the process cycle time, and the configuration space that the distance between the tool and the work piece. It is observed that express start and swift end are acceptable in a robot program because applicable works usually in existence during these moments. However, during the mid-range cycle, there are always practical tasks programmed to be executed. For that reason, it is acceptable to program the robot such as that speedy alteration of actuator displacement is avoided. A dynamic visual inspection system using a robot manipulator seems practical for a work piece with a complex shape.

Keywords: Robot manipulator, Visual inspection, Work piece, Trajectory planning.

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