Search results for: Dynamic facility layout planning

Authors: G. Bhushan, S. S. Rattan, N. P. Mehta

Abstract:

A four-lobe pressure dam bearing which is produced by cutting two pressure dams on the upper two lobes and two relief-tracks on the lower two lobes of an ordinary four-lobe bearing is found to be more stable than a conventional four-lobe bearing. In this paper a four-lobe pressure dam bearing supporting rigid and flexible rotors is analytically investigated to determine its performance when L/D ratio is varied in the range 0.75 to 1.5. The static and dynamic characteristics are studied at various L/D ratios. The results show that the stability of a four-lobe pressure dam bearing increases with decrease in L/D ratios both for rigid as well as flexible rotors.

Keywords: Four-lobe pressure dam bearing, finite-elementmethod, L/D ratio.

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Authors: Chen Wang, Amir Anvar

Abstract:

This paper describes the modeling and simulation of an underwater robot glider used in the shallow-water environment. We followed the Equations of motion derived by [2] and simplified dynamic Equations of motion of an underwater glider according to our underwater glider. A simulation code is built and operated in the MATLAB Simulink environment so that we can make improvements to our testing glider design. It may be also used to validate a robot glider design.

Keywords: AUV, underwater glider, robot, modeling, simulation.

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Authors: Hataitep Wongsuwarn, Djitt Laowattana

Abstract:

This paper summaries basic principles and concepts of intelligent controls, implemented in humanoid robotics as well as recent algorithms being devised for advanced control of humanoid robots. Secondly, this paper presents a new approach neuro-fuzzy system. We have included some simulating results from our computational intelligence technique that will be applied to our humanoid robot. Subsequently, we determine a relationship between joint trajectories and located forces on robot-s foot through a proposed neuro-fuzzy technique.

Keywords: Biped Robot, Computational Intelligence, Static and Dynamic Walking, Gait Synthesis, Neuro-Fuzzy System.

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Authors: V. Narasimha Raghavan, T. Peer Meera Labbai, N. Bhalaji, Suvitha Kesavan

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In this paper, a new approach based on the extent of friendship between the nodes is proposed which makes the nodes to co-operate in an ad hoc environment. The extended DSR protocol is tested under different scenarios by varying the number of malicious nodes and node moving speed. It is also tested varying the number of nodes in simulation used. The result indicates the achieved throughput by extended DSR is greater than the standard DSR and indicates the percentage of malicious drops over total drops are less in the case of extended DSR than the standard DSR.

Keywords: Mobile Adhoc Networks, DSR, Grudger protocol, Nodes.

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Authors: Shoji Katagiri

Abstract:

This study deals with wage inequality in organization and shows the relationship between ICT and wage in organization. To do so, we incorporate ICT’s factors in organization into our model. ICT’s factors are efficiencies of Enterprise Resource Planning (ERP), Computer Assisted Design/Computer Assisted Manufacturing (CAD/CAM), and NETWORK. The improvement of ICT’s factors decrease the learning cost to solve problem pertaining to the hierarchy in organization. The improvement of NETWORK increases the wage inequality within workers and decreases within managers and entrepreneurs. The improvements of CAD/CAM and ERP increases the wage inequality within all agent, and partially increase it between the agents in hierarchy.

Keywords: Endogenous economic growth, ICT, inequality, capital accumulation, technology.

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Authors: M. Mahdi, N. Shariatmadari

Abstract:

An important aspect of planning for shallow tunneling under urban areas is the determination of likely surface movements and interaction with existing structures. Back analysis of built tunnels that their settlements magnitude is available, could aid the designers to have a more accuracy in future projects.

In this paper, one single Tehran Metro Tunnel (at west of Hor square, Jang University Street) was selected. At first, surface settlements of this tunnel were measured in situ. Then this tunnel was modeled using the commercial finite deference software FLAC-3D. Finally, Results of modeling and in situ measurements compared for verification.

Keywords: Shallow Tunnel, Back Analysis, Surface Movement, Numerical Modeling.

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Authors: E. K.Appiah, G. M'boungui, A. A. Jimoh, J. L. Munda, A.S.O. Ogunjuyigbe

Abstract:

The operational behavior of a six-phase squirrel cage induction machine with faulted stator terminals is presented in this paper. The study is carried out using the derived mathematical model of the machine in the arbitrary reference frame. Tests are conducted on a 1 kW experimental machine. Steady-state and dynamic performance are analyzed for the machine unloaded and loaded conditions. The results shows that with one of the stator phases experiencing either an open- circuit or short circuit fault the machine still produces starting torque, albeit the running performance is significantly derated.

Keywords: Performance, fault conditions, six-phase induction machine.

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Authors: A. Lakrim, D. Tahri

Abstract:

This paper sets out a behavioral macro-model of a Merged PiN and Schottky (MPS) diode based on silicon carbide (SiC). This model holds good for both static and dynamic electrothermal simulations for industrial applications. Its parameters have been worked out from datasheets curves by drawing on the optimization method: Simulated Annealing (SA) for the SiC MPS diodes made available in the industry. The model also adopts the Analog Behavioral Model (ABM) of PSPICE in which it has been implemented. The thermal behavior of the devices was also taken into consideration by making use of Foster’ canonical network as figured out from electro-thermal measurement provided by the manufacturer of the device.

Keywords: SiC MPS Diode, electro-thermal, SPICE Model.

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Authors: Mohammed A. Hajeeh

Abstract:

This paper examines the behavior of a system, which upon failure is either replaced with certain probability p or imperfectly repaired with probability q. The system is analyzed using Kolmogorov's forward equations method; the analytical expression for the steady state availability is derived as an indicator of the system’s performance. It is found that the analysis becomes more complex as the number of imperfect repairs increases. It is also observed that the availability increases as the number of states and replacement probability increases. Using such an approach in more complex configurations and in dynamic systems is cumbersome; therefore, it is advisable to resort to simulation or heuristics. In this paper, an example is provided for demonstration.

Keywords: Repairable models, imperfect, availability, exponential distribution.

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Authors: T. Nozu, K. Hibi, T. Nishiie

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This paper discusses the applicability of the numerical model for a damage prediction method of the accidental hydrogen explosion occurring in a hydrogen facility. The numerical model was based on an unstructured finite volume method (FVM) code “NuFD/FrontFlowRed”. For simulating unsteady turbulent combustion of leaked hydrogen gas, a combination of Large Eddy Simulation (LES) and a combustion model were used. The combustion model was based on a two scalar flamelet approach, where a G-equation model and a conserved scalar model expressed a propagation of premixed flame surface and a diffusion combustion process, respectively. For validation of this numerical model, we have simulated the previous two types of hydrogen explosion tests. One is open-space explosion test, and the source was a prismatic 5.27 m³ volume with 30% of hydrogen-air mixture. A reinforced concrete wall was set 4 m away from the front surface of the source. The source was ignited at the bottom center by a spark. The other is vented enclosure explosion test, and the chamber was 4.6 m × 4.6 m × 3.0 m with a vent opening on one side. Vent area of 5.4 m² was used. Test was performed with ignition at the center of the wall opposite the vent. Hydrogen-air mixtures with hydrogen concentrations close to 18% vol. were used in the tests. The results from the numerical simulations are compared with the previous experimental data for the accuracy of the numerical model, and we have verified that the simulated overpressures and flame time-of-arrival data were in good agreement with the results of the previous two explosion tests.

Keywords: Deflagration, Large Eddy Simulation, Turbulent combustion, Vented enclosure.

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Authors: Wah Wah Aung, Cho Cho San

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The paper deals with a mathematical model for fluid dynamic flows on road networks which is based on conservation laws. This nonlinear framework is based on the conservation of cars. We focus on traffic circle, which is a finite number of roads that meet at some junctions. The traffic circle with junctions having either one incoming and two outgoing or two incoming and one outgoing roads. We describe the numerical schemes with the particular boundary conditions used to produce approximated solutions of the problem.

Keywords: boundary conditions, conservation laws, finite difference Schemes, traffic flow.

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Authors: Halim Djerroud, Arab Ali Cherif

Abstract:

We assume that conscious functions are implemented automatically. In other words that consciousness as well as the non-consciousness aspect of human thought, planning and perception, are produced by biologically adaptive algorithms. We propose that the mechanisms of consciousness can be produced using similar adaptive algorithms to those executed by the mechanism. In this paper, we present a computational model of consciousness, the ”Global Abstraction Workspace” which is an internal environmental modelling perceived as a multi-agent system. This system is able to evolve and generate new data and processes as well as actions in the environment.

Keywords: Artificial consciousness, cognitive architecture, global abstraction workspace, mutli-agents system.

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Authors: Reyna Singh, David Lokhat, Milan Carsky

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The world crude oil demand is projected to rise to 108.5 million bbl/d by the year 2035. With reserves estimated at 869 billion tonnes worldwide, coal remains an abundant resource. The aim of this work was to produce a high value hydrocarbon liquid product using a Direct Coal Liquefaction (DCL) process at, relatively mild operating conditions. Via hydrogenation, the temperature-staged approach was investigated in a dual reactor lab-scale pilot plant facility. The objectives included maximising thermal dissolution of the coal in the presence of tetralin as the hydrogen donor solvent in the first stage with 2:1 and 3:1 solvent: coal ratios. Subsequently, in the second stage, hydrogen saturation, in particular, hydrodesulphurization (HDS) performance was assessed. Two commercial hydrotreating catalysts were investigated viz. NickelMolybdenum (Ni-Mo) and Cobalt-Molybdenum (Co-Mo). GC-MS results identified 77 compounds and various functional groups present in the first and second stage liquid product. In the first stage 3:1 ratios and liquid product yields catalysed by magnetite were favoured. The second stage product distribution showed an increase in the BTX (Benzene, Toluene, Xylene) quality of the liquid product, branched chain alkanes and a reduction in the sulphur concentration. As an HDS performer and selectivity to the production of long and branched chain alkanes, Ni-Mo had an improved performance over Co-Mo. Co-Mo is selective to a higher concentration of cyclohexane. For 16 days on stream each, Ni-Mo had a higher activity than Co-Mo. The potential to cover the demand for low–sulphur, crude diesel and solvents from the production of high value hydrocarbon liquid in the said process, is thus demonstrated. 

Keywords: Catalyst, coal, liquefaction, temperature-staged.

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Authors: Rihab Gam, Anis Sakly, Faouzi M'sahli

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A new strategy of control is formulated for chaos synchronization of non-identical chaotic systems with different orders using the Borne and Gentina practical criterion associated with the Benrejeb canonical arrow form matrix, to drift the stability property of dynamic complex systems. The designed controller ensures that the state variables of controlled chaotic slave systems globally synchronize with the state variables of the master systems, respectively. Numerical simulations are performed to illustrate the efficiency of the proposed method.

Keywords: Synchronization, Non-identical chaotic systems, Different orders, Arrow form matrix.

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Authors: R. Kongnuy, P. Pongsumpun

Abstract:

Dengue, a disease found in most tropical and subtropical areas of the world. It has become the most common arboviral disease of humans. This disease is caused by any of four serotypes of dengue virus (DEN1-DEN4). In many endemic countries, the average age of getting dengue infection is shifting upwards, dengue in pregnancy and infancy are likely to be encountered more frequently. The dynamics of the disease is studied by a compartmental model involving ordinary differential equations for the pregnant, infant human and the vector populations. The stability of each equilibrium point is given. The epidemic dynamic is discussed. Moreover, the numerical results are shown for difference values of dengue antibody.

Keywords: Dengue antibody, infant, pregnant human, mathematical model.

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Authors: Ani Grubišić, Slavomir Stankov, Branko Žitko

Abstract:

This paper describes a concept of stereotype student model in adaptive knowledge acquisition e-learning system. Defined knowledge stereotypes are based on student's proficiency level and on Bloom's knowledge taxonomy. The teacher module is responsible for the whole adaptivity process: the automatic generation of courseware elements, their dynamic selection and sorting, as well as their adaptive presentation using templates for statements and questions. The adaptation of courseware is realized according to student-s knowledge stereotype.

Keywords: Adaptive e-learning systems, adaptive courseware, stereotypes, Bloom's knowledge taxonomy.

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Authors: K. Kalaikumar, E. Baburaj

Abstract:

One of the problems to be addressed in wireless sensor networks is the issues related to cross layer communication. Cross layer architecture shares the information across the layer, ensuring Quality of Services (QoS). With this shared information, MAC protocol adapts effective functionality maintenance such as route selection on changeable sensor network environment. However, time slot assignment and neighbour route selection time duration for cross layer have not been carried out. The time varying physical layer communication over cross layer causes high traffic load in the sensor network. Though, the traffic load was reduced using cross layer optimization procedure, the computational cost is high. To improve communication efficacy in the sensor network, a self-determined time slot based Cross-Layered Neighbour Route Discovery (C-LNRD) method is presented in this paper. In the presented work, the initial process is to discover the route in the sensor network using Dynamic Source Routing based Medium Access Control (MAC) sub layers. This process considers MAC layer operation with dynamic route neighbour table discovery. Then, the discovered route path for packet communication employs Broad Route Distributed Time Slot Assignment method on Cross-Layered Sensor Network system. Broad Route means time slotting on varying length of the route paths. During packet communication in this sensor network, transmission of packets is adjusted over the different time with varying ranges for controlling the traffic rate. Finally, Rayleigh fading model is developed in C-LNRD to identify the performance of the sensor network communication structure. The main task of Rayleigh Fading is to measure the power level of each communication under MAC sub layer. The minimized power level helps to easily reduce the computational cost of packet communication in the sensor network. Experiments are conducted on factors such as power factor, on packet communication, neighbour route discovery time, and information (i.e., packet) propagation speed.

Keywords: Medium access control, neighbour route discovery, wireless sensor network, Rayleigh fading, distributed time slot assignment

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Authors: Zixin Liu, Shu Lü, Shouming Zhong, Mao Ye

Abstract:

In this paper, some new nonlinear generalized Gronwall-Bellman-Type integral inequalities with mixed time delays are established. These inequalities can be used as handy tools to research stability problems of delayed differential and integral dynamic systems. As applications, based on these new established inequalities, some p-stable results of a integro-differential equation are also given. Two numerical examples are presented to illustrate the validity of the main results.

Keywords: Gronwall-Bellman-Type integral inequalities, integrodifferential equation, p-exponentially stable, mixed delays.

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Authors: Tim Klemke, Peter Nyhuis

Abstract:

In today-s turbulent environment, companies are faced with two principal challenges. On the one hand, it is necessary to produce ever more cost-effectively to remain competitive. On the other hand, factories need to be transformable in order to manage unpredictable changes in the corporate environment. To deal with these different challenges, companies use the philosophy of lean production in the first case, in the second case the philosophy of transformability. To a certain extent these two approaches follow different directions. This can cause conflicts when designing factories. Therefore, the Institute of Production Systems and Logistics (IFA) of the Leibniz University of Hanover has developed a procedure to allow companies to evaluate and design their factories with respect to the requirements of both philosophies.

Keywords: Factory planning, lean production, transformability

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Authors: Sagir M. Yusuf, Chris Baber

Abstract:

In this paper, we describe how to achieve knowledge understanding and prediction (Situation Awareness (SA)) for multiple-agents conducting searching activity using Bayesian inferential reasoning and learning. Bayesian Belief Network was used to monitor agents' knowledge about their environment, and cases are recorded for the network training using expectation-maximisation or gradient descent algorithm. The well trained network will be used for decision making and environmental situation prediction. Forest fire searching by multiple UAVs was the use case. UAVs are tasked to explore a forest and find a fire for urgent actions by the fire wardens. The paper focused on two problems: (i) effective agents’ path planning strategy and (ii) knowledge understanding and prediction (SA). The path planning problem by inspiring animal mode of foraging using Lévy distribution augmented with Bayesian reasoning was fully described in this paper. Results proof that the Lévy flight strategy performs better than the previous fixed-pattern (e.g., parallel sweeps) approaches in terms of energy and time utilisation. We also introduced a waypoint assessment strategy called k-previous waypoints assessment. It improves the performance of the ordinary levy flight by saving agent’s resources and mission time through redundant search avoidance. The agents (UAVs) are to report their mission knowledge at the central server for interpretation and prediction purposes. Bayesian reasoning and learning were used for the SA and results proof effectiveness in different environments scenario in terms of prediction and effective knowledge representation. The prediction accuracy was measured using learning error rate, logarithm loss, and Brier score and the result proves that little agents mission that can be used for prediction within the same or different environment. Finally, we described a situation-based knowledge visualization and prediction technique for heterogeneous multi-UAV mission. While this paper proves linkage of Bayesian reasoning and learning with SA and effective searching strategy, future works is focusing on simplifying the architecture.

Keywords: Lèvy flight, situation awareness, multi-agent system, multi-robot coordination, autonomous system, swarm intelligence.

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Authors: Ali A. Ofoghi

Abstract:

While the shear walls are not economical in buildings, thin shear walls are widely used in the buildings. In the present study, the ratio of different loads to their plasticity and seismic behavior of the wall under different loads have been investigated. Modeling and analysis are carried out by the finite element analysis software ABAQUS. The results show that any increase in the exerted loads will have adverse effects on the seismic behavior of the thin shear walls and causes the wall to collapse by small displacements.

Keywords: Thin shear wall, nonlinear dynamic analysis, reinforced concrete, plasticity.

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Authors: S. Rao, S. Khavtasi, C. Chassot, N. Van Wambeke, F. Armando, S. P. Romano, T. Castaldi

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The talks about technological convergence had been around for almost twenty years. Today Internet made it possible. And this is not only technical evolution. The way it changed our lives reflected in variety of applications, services and technologies used in day-to-day life. Such benefits imposed even more requirements on heterogeneous and unreliable IP networks. Current paper outlines QoS management system developed in the NetQoS [1] project. It describes an overall architecture of management system for heterogeneous networks and proposes automated multi-layer QoS management. Paper focuses on the structure of the most crucial modules of the system that enable autonomous and multi-layer provisioning and dynamic adaptation.

Keywords: Automated QoS management, multi-layerprovisioning and adaptation, QoS, QoE.

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Authors: D. Boecker, R. Breves, F. Herth, Z. Zhang, C. Bulitta

Abstract:

Pathogen-carrying aerosol particles are recognized as important infection carriers like those in the current Corona pandemic. This infection route is often underestimated yet represents the infection route that has been least systematically countered to date. Particularly, the transmission indoors is of the highest concern but current indoor safety measures (e.g.: distancing, masks, filters) provide only limited protection. Inhalation of hypochlorous acid (HOCl) containing aerosols may become an alternate route to attack the incubating microbes in-situ and so potentially lead to a reduction of symptoms of already infected individuals. We investigated a facility-wide air-disinfection concept utilizing the potential of vaporized HOCl to become a disinfecting agent for populated indoor atmospheres. Aerosolized bacterial microbes were used as surrogates for a viral contamination, particularly the enveloped coronavirus. For the room air purification tests we aerosolized bacterial suspensions into lab chambers preloaded with vaporized HOCl solutions. Concentration of ‘free active chlorine’ in the test chamber atmosphere was determined with a special gas sensor system (Draeger AG, Lübeck, Germany) controlling the amount of vaporized HOCl via an aerosolis® device (oji Europe GmbH, Nauen, Germany). We could confirm the disinfecting power of HOCl in suspensions and determined the high efficacy of vaporized HOCl to disinfect atmospheres of populated indoor places at safe and non-irritant levels.

Keywords: Hypochlorous acid, HOCl, indoor air cleaning, infection control, microbial air burden, protective atmosphere.

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Authors: Petr Teply

Abstract:

Liquidity risk management ranks to key concepts applied in finance. Liquidity is defined as a capacity to obtain funding when needed, while liquidity risk means as a threat to this capacity to generate cash at fair costs. In the paper we present challenges of liquidity risk management resulting from the 2007- 2009 global financial upheaval. We see five main regulatory liquidity risk management issues requiring revision in coming years: liquidity measurement, intra-day and intra-group liquidity management, contingency planning and liquidity buffers, liquidity systems, controls and governance, and finally models testing the viability of business liquidity models.

Keywords: liquidity, risk management, regulation, global crisis

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Authors: Philippe Fauquet-Alekhine, Elena Fauquet-Alekhine-Pavlovskaia

Abstract:

On the basis of questionnaires and interviews of two samples of subjects (French and Anglo-Saxon) for which two food products were presented (one of the subject’s country and one of the foreign country), we have shown how consumers could be sensitive to the label or brand written on the package of the food product. Furthermore, in the light of Intersubjectivity theory, we have shown the necessity for the consumer to find congruence between the direct and meta perspective towards the product for which the producer and especially the marketer is responsible. Taking into account these findings may help to avoid the commercial failure of a brand while exported abroad.

Keywords: Brand, failure, food industry.

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Authors: K. Barbar, M. Dehayni, A. Awada, M. Smaili

Abstract:

Considering the theory of attribute grammars, we use logical formulas instead of traditional functional semantic rules. Following the decoration of a derivation tree, a suitable algorithm should maintain the consistency of the formulas together with the evaluation of the attributes. This may be a Prolog-like resolution, but this paper examines a somewhat different strategy, based on production specialization, local consistency and propagation: given a derivation tree, it is interactively decorated, i.e. incrementally checked and evaluated. The non-directed dependencies are dynamically directed during attribute evaluation.

Keywords: Input/Output attribute grammars, local consistency, logical programming, propagation, relational attribute grammars.

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Authors: Ke Wang, Zhu Wang

Abstract:

Coordinating and promoting urban and rural development has been a new round of institutional change in Zhejiang province since 2004. And this plan was fully implemented, which showed that the isolation between the urban and rural areas had gradually diminished. Little by little, an infiltration interface that is dynamic, flexible and interactive is formed, and this morphological structure starts to appear on the landscape form in the surrounding villages. In order to study the specific function and formation of the structure in the context of industrial revolution, Bimen village located on the interface between Anji Township, Huzhou and Yuhang District, Hangzhou is taken as the case. Anji township is in the cross area between Yangtze River delta economic circle and innovation center in Hangzhou. Awarded with ‘Chinese beautiful village’, Bimen has witnessed the growing process of infiltration in ecology, economy, technology and culture on the interface. Within the opportunity, Bimen village presents internal reformation to adapt to the energy exchange with urban areas. In the research, the reformation is to adjust the industrial structure, to upgrade the local special bamboo crafts, to release space for activities, and to establish infrastructures on the interface. The characteristic of an interface is elasticity achieved by introducing an Internet platform using ‘O2O’ agriculture method to connect cities and farmlands. There is a platform of this kind in Bimen named ‘Xiao Mei’. ‘Xiao’ in Chinese means small, ‘Mei’ means beautiful, which indicates the method to refine the landscape form. It turns out that the new agriculture mode will strengthen the interface by orienting the Third Party Platform upon the old dynamic basis and will bring new vitality for economy development in Bimen village. The research concludes opportunities and challenges generated by the evolution of the infiltration interface. It also proposes strategies for how to organically adapt to the urbanization process. Finally it demonstrates what will happen by increasing flexibility in the landscape forms of suburbs in the Bimen village.

Keywords: Bimen Village, infiltration interface, flexibility, suburban landscape form.

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Authors: Kamel Khoualdi, Radia Benghezal

Abstract:

Research in distributed artificial intelligence and multiagent systems consider how a set of distributed entities can interact and coordinate their actions in order to solve a given problem. In this paper an overview of this concept and its evolution is presented particularly its application in the design of intelligent tutoring systems. An intelligent tutor based on the concept of agent and centered specifically on the design of a pedagogue agent is illustrated. Our work has two goals: the first one concerns the architecture aspect and the design of a tutor using multiagent approach. The second one deals particularly with the design of a part of a tutor system: the pedagogue agent.

Keywords: Intelligent tutoring systems, Multiagent systems, Pedagogue agent, Planning.

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Authors: Miquel Colobran, Josep M. Basart

Abstract:

One of the most ancient humankind concerns is knowledge formalization i.e. what a concept is. Concept Analysis, a branch of analytical philosophy, relies on the purpose of decompose the elements, relations and meanings of a concept. This paper aims at presenting a method to make a concept analysis obtaining a knowledge representation suitable to be processed by a computer system using either object-oriented or ontology technologies. Security notion is, usually, known as a set of different concepts related to “some kind of protection". Our method concludes that a more general framework for the concept, despite it is dynamic, is possible and any particular definition (instantiation) depends on the elements used by its construction instead of the concept itself.

Keywords: Concept analysis, Knowledge representation, Security, UML.

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Authors: Vahid Rostami, Saeed Ebrahimijam, P.khajehpoor, P.Mirzaei, Mahdi Yousefiazar

Abstract:

This paper introduces our first efforts of developing a new team for RoboCup Middle Size Competition. In our robots we have applied omni directional based mobile system with omnidirectional vision system and fuzzy control algorithm to navigate robots. The control architecture of MRL middle-size robots is a three layered architecture, Planning, Sequencing, and Executing. It also uses Blackboard system to achieve coordination among agents. Moreover, the architecture should have minimum dependency on low level structure and have a uniform protocol to interact with real robot.

Keywords: Robocup, Soccer robots, Fuzzy controller, Multi agent.

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