Search results for: Shortest Path Algorithm for Shopping.
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 3902

Search results for: Shortest Path Algorithm for Shopping.

3902 Using Multi-Thread Technology Realize Most Short-Path Parallel Algorithm

Authors: Chang-le Lu, Yong Chen

Abstract:

The shortest path question is in a graph theory model question, and it is applied in many fields. The most short-path question may divide into two kinds: Single sources most short-path, all apexes to most short-path. This article mainly introduces the problem of all apexes to most short-path, and gives a new parallel algorithm of all apexes to most short-path according to the Dijkstra algorithm. At last this paper realizes the parallel algorithms in the technology of C # multithreading.

Keywords: Dijkstra algorithm, parallel algorithms, multi-thread technology, most short-path, ratio.

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3901 Performance Comparison of Prim’s and Ant Colony Optimization Algorithm to Select Shortest Path in Case of Link Failure

Authors: Rimmy Yadav, Avtar Singh

Abstract:

Ant Colony Optimization (ACO) is a promising modern approach to the unused combinatorial optimization. Here ACO is applied to finding the shortest during communication link failure. In this paper, the performances of the prim’s and ACO algorithm are made. By comparing the time complexity and program execution time as set of parameters, we demonstrate the pleasant performance of ACO in finding excellent solution to finding shortest path during communication link failure.

Keywords: Ant colony optimization, link failure, prim’s algorithm.

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3900 Evolutionary Algorithms for the Multiobjective Shortest Path Problem

Authors: José Maria A. Pangilinan, Gerrit K. Janssens

Abstract:

This paper presents an overview of the multiobjective shortest path problem (MSPP) and a review of essential and recent issues regarding the methods to its solution. The paper further explores a multiobjective evolutionary algorithm as applied to the MSPP and describes its behavior in terms of diversity of solutions, computational complexity, and optimality of solutions. Results show that the evolutionary algorithm can find diverse solutions to the MSPP in polynomial time (based on several network instances) and can be an alternative when other methods are trapped by the tractability problem.

Keywords: Multiobjective evolutionary optimization, geneticalgorithms, shortest paths.

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3899 All-Pairs Shortest-Paths Problem for Unweighted Graphs in O(n2 log n) Time

Authors: Udaya Kumar Reddy K. R, K. Viswanathan Iyer

Abstract:

Given a simple connected unweighted undirected graph G = (V (G), E(G)) with |V (G)| = n and |E(G)| = m, we present a new algorithm for the all-pairs shortest-path (APSP) problem. The running time of our algorithm is in O(n2 log n). This bound is an improvement over previous best known O(n2.376) time bound of Raimund Seidel (1995) for general graphs. The algorithm presented does not rely on fast matrix multiplication. Our algorithm with slight modifications, enables us to compute the APSP problem for unweighted directed graph in time O(n2 log n), improving a previous best known O(n2.575) time bound of Uri Zwick (2002).

Keywords: Distance in graphs, Dynamic programming, Graphalgorithms, Shortest paths.

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3898 Integer Programming Model for the Network Design Problem with Facility Dependent Shortest Path Routing

Authors: Taehan Lee

Abstract:

We consider a network design problem which has shortest routing restriction based on the values determined by the installed facilities on each arc. In conventional multicommodity network design problem, a commodity can be routed through any possible path when the capacity is available. But, we consider a problem in which the commodity between two nodes must be routed on a path which has shortest metric value and the link metric value is determined by the installed facilities on the link. By this routing restriction, the problem has a distinct characteristic. We present an integer programming formulation containing the primal-dual optimality conditions to the shortest path routing. We give some computational results for the model.

Keywords: Integer programming, multicommodity network design, routing, shortest path.

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3897 A Nondominated Sorting Genetic Algorithm for Shortest Path Routing Problem

Authors: C. Chitra, P. Subbaraj

Abstract:

The shortest path routing problem is a multiobjective nonlinear optimization problem with constraints. This problem has been addressed by considering Quality of service parameters, delay and cost objectives separately or as a weighted sum of both objectives. Multiobjective evolutionary algorithms can find multiple pareto-optimal solutions in one single run and this ability makes them attractive for solving problems with multiple and conflicting objectives. This paper uses an elitist multiobjective evolutionary algorithm based on the Non-dominated Sorting Genetic Algorithm (NSGA), for solving the dynamic shortest path routing problem in computer networks. A priority-based encoding scheme is proposed for population initialization. Elitism ensures that the best solution does not deteriorate in the next generations. Results for a sample test network have been presented to demonstrate the capabilities of the proposed approach to generate well-distributed pareto-optimal solutions of dynamic routing problem in one single run. The results obtained by NSGA are compared with single objective weighting factor method for which Genetic Algorithm (GA) was applied.

Keywords: Multiobjective optimization, Non-dominated Sorting Genetic Algorithm, Routing, Weighted sum.

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3896 Multiobjective Optimization Solution for Shortest Path Routing Problem

Authors: C. Chitra, P. Subbaraj

Abstract:

The shortest path routing problem is a multiobjective nonlinear optimization problem with constraints. This problem has been addressed by considering Quality of service parameters, delay and cost objectives separately or as a weighted sum of both objectives. Multiobjective evolutionary algorithms can find multiple pareto-optimal solutions in one single run and this ability makes them attractive for solving problems with multiple and conflicting objectives. This paper uses an elitist multiobjective evolutionary algorithm based on the Non-dominated Sorting Genetic Algorithm (NSGA), for solving the dynamic shortest path routing problem in computer networks. A priority-based encoding scheme is proposed for population initialization. Elitism ensures that the best solution does not deteriorate in the next generations. Results for a sample test network have been presented to demonstrate the capabilities of the proposed approach to generate well-distributed pareto-optimal solutions of dynamic routing problem in one single run. The results obtained by NSGA are compared with single objective weighting factor method for which Genetic Algorithm (GA) was applied.

Keywords: Multiobjective optimization, Non-dominated SortingGenetic Algorithm, Routing, Weighted sum.

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3895 The Conceptual Design Model of an Automated Supermarket

Authors: Sathya Narayanan V., Sidharth P., Sanal Kumar. V. R.

Abstract:

The success of any retail business is predisposed by its swift response and its knack in understanding the constraints and the requirements of customers. In this paper a conceptual design model of an automated customer-friendly supermarket has been proposed. In this model a 10-sided, space benefited, regular polygon shaped gravity shelves have been designed for goods storage and effective customer-specific algorithms have been built-in for quick automatic delivery of the randomly listed goods. The algorithm is developed with two main objectives, viz., delivery time and priority. For meeting these objectives the randomly listed items are reorganized according to the critical-path of the robotic arm specific to the identified shop and its layout and the items are categorized according to the demand, shape, size, similarity and nature of the product for an efficient pick-up, packing and delivery process. We conjectured that the proposed automated supermarket model reduces business operating costs with much customer satisfaction warranting a winwin situation.

Keywords: Automated Supermarket, Electronic Shopping, Polygon-shaped Rack, Shortest Path Algorithm for Shopping.

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3894 Improvement of the Shortest Path Problem with Geodesic-Like Method

Authors: Wen-Haw Chen

Abstract:

This paper proposes a method to improve the shortest path problem on a NURBS (Non-uniform rational basis spline) surfaces. It comes from an application of the theory in classic differential geometry on surfaces and can improve the distance problem not only on surfaces but in the Euclidean 3-space R3 .

Keywords: shortest paths, geodesic-like method, NURBS surfaces.

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3893 Application of a New Efficient Normal Parameter Reduction Algorithm of Soft Sets in Online Shopping

Authors: Xiuqin Ma, Hongwu Qin

Abstract:

A new efficient normal parameter reduction algorithm of soft set in decision making was proposed. However, up to the present, few documents have focused on real-life applications of this algorithm. Accordingly, we apply a New Efficient Normal Parameter Reduction algorithm into real-life datasets of online shopping, such as Blackberry Mobile Phone Dataset. Experimental results show that this algorithm is not only suitable but feasible for dealing with the online shopping.

Keywords: Normal parameter reduction, Online shopping, Parameter reduction, Soft sets.

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3892 Estimating Shortest Circuit Path Length Complexity

Authors: Azam Beg, P. W. Chandana Prasad, S.M.N.A Senenayake

Abstract:

When binary decision diagrams are formed from uniformly distributed Monte Carlo data for a large number of variables, the complexity of the decision diagrams exhibits a predictable relationship to the number of variables and minterms. In the present work, a neural network model has been used to analyze the pattern of shortest path length for larger number of Monte Carlo data points. The neural model shows a strong descriptive power for the ISCAS benchmark data with an RMS error of 0.102 for the shortest path length complexity. Therefore, the model can be considered as a method of predicting path length complexities; this is expected to lead to minimum time complexity of very large-scale integrated circuitries and related computer-aided design tools that use binary decision diagrams.

Keywords: Monte Carlo circuit simulation data, binary decision diagrams, neural network modeling, shortest path length estimation

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3891 Decision Support System for Solving Multi-Objective Routing Problem

Authors: Ismail El Gayar, Ossama Ismail, Yousri El Gamal

Abstract:

This paper presented a technique to solve one of the transportation problems that faces us in real life which is the Bus Scheduling Problem. Most of the countries using buses in schools, companies and traveling offices as an example to transfer multiple passengers from many places to specific place and vice versa. This transferring process can cost time and money, so we build a decision support system that can solve this problem. In this paper, a genetic algorithm with the shortest path technique is used to generate a competitive solution to other well-known techniques. It also presents a comparison between our solution and other solutions for this problem.

Keywords: Bus scheduling problem, decision support system, genetic algorithm, operation planning, shortest path, transportation.

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3890 Learning Monte Carlo Data for Circuit Path Length

Authors: Namal A. Senanayake, A. Beg, Withana C. Prasad

Abstract:

This paper analyzes the patterns of the Monte Carlo data for a large number of variables and minterms, in order to characterize the circuit path length behavior. We propose models that are determined by training process of shortest path length derived from a wide range of binary decision diagram (BDD) simulations. The creation of the model was done use of feed forward neural network (NN) modeling methodology. Experimental results for ISCAS benchmark circuits show an RMS error of 0.102 for the shortest path length complexity estimation predicted by the NN model (NNM). Use of such a model can help reduce the time complexity of very large scale integrated (VLSI) circuitries and related computer-aided design (CAD) tools that use BDDs.

Keywords: Monte Carlo data, Binary decision diagrams, Neural network modeling, Shortest path length estimation.

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3889 Approximation Algorithm for the Shortest Approximate Common Superstring Problem

Authors: A.S. Rebaï, M. Elloumi

Abstract:

The Shortest Approximate Common Superstring (SACS) problem is : Given a set of strings f={w1, w2, ... , wn}, where no wi is an approximate substring of wj, i ≠ j, find a shortest string Sa, such that, every string of f is an approximate substring of Sa. When the number of the strings n>2, the SACS problem becomes NP-complete. In this paper, we present a greedy approximation SACS algorithm. Our algorithm is a 1/2-approximation for the SACS problem. It is of complexity O(n2*(l2+log(n))) in computing time, where n is the number of the strings and l is the length of a string. Our SACS algorithm is based on computation of the Length of the Approximate Longest Overlap (LALO).

Keywords: Shortest approximate common superstring, approximation algorithms, strings overlaps, complexities.

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3888 Grocery Customer Behavior Analysis using RFID-based Shopping Paths Data

Authors: In-Chul Jung, Young S. Kwon

Abstract:

Knowing about the customer behavior in a grocery has been a long-standing issue in the retailing industry. The advent of RFID has made it easier to collect moving data for an individual shopper's behavior. Most of the previous studies used the traditional statistical clustering technique to find the major characteristics of customer behavior, especially shopping path. However, in using the clustering technique, due to various spatial constraints in the store, standard clustering methods are not feasible because moving data such as the shopping path should be adjusted in advance of the analysis, which is time-consuming and causes data distortion. To alleviate this problem, we propose a new approach to spatial pattern clustering based on the longest common subsequence. Experimental results using real data obtained from a grocery confirm the good performance of the proposed method in finding the hot spot, dead spot and major path patterns of customer movements.

Keywords: customer path, shopping behavior, exploratoryanalysis, LCS, RFID

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3887 Reduction of Search Space by Applying Controlled Genetic Operators for Weight Constrained Shortest Path Problem

Authors: A.K.M. Khaled Ahsan Talukder, Taibun Nessa, Kaushik Roy

Abstract:

The weight constrained shortest path problem (WCSPP) is one of most several known basic problems in combinatorial optimization. Because of its importance in many areas of applications such as computer science, engineering and operations research, many researchers have extensively studied the WCSPP. This paper mainly concentrates on the reduction of total search space for finding WCSP using some existing Genetic Algorithm (GA). For this purpose, some controlled schemes of genetic operators are adopted on list chromosome representation. This approach gives a near optimum solution with smaller elapsed generation than classical GA technique. From further analysis on the matter, a new generalized schema theorem is also developed from the philosophy of Holland-s theorem.

Keywords: Genetic Algorithm, Evolutionary Optimization, Multi Objective Optimization, Non-linear Schema Theorem, WCSPP.

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3886 Tabu Search Approach to Solve Routing Issues in Communication Networks

Authors: Anant Oonsivilai, Wichai Srisuruk, Boonruang Marungsri, Thanatchai Kulworawanichpong

Abstract:

Optimal routing in communication networks is a major issue to be solved. In this paper, the application of Tabu Search (TS) in the optimum routing problem where the aim is to minimize the computational time and improvement of quality of the solution in the communication have been addressed. The goal is to minimize the average delays in the communication. The effectiveness of Tabu Search method is shown by the results of simulation to solve the shortest path problem. Through this approach computational cost can be reduced.

Keywords: Communication networks, optimum routing network, tabu search algorithm, shortest path.

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3885 Geospatial Network Analysis Using Particle Swarm Optimization

Authors: Varun Singh, Mainak Bandyopadhyay, Maharana Pratap Singh

Abstract:

The shortest path (SP) problem concerns with finding the shortest path from a specific origin to a specified destination in a given network while minimizing the total cost associated with the path. This problem has widespread applications. Important applications of the SP problem include vehicle routing in transportation systems particularly in the field of in-vehicle Route Guidance System (RGS) and traffic assignment problem (in transportation planning). Well known applications of evolutionary methods like Genetic Algorithms (GA), Ant Colony Optimization, Particle Swarm Optimization (PSO) have come up to solve complex optimization problems to overcome the shortcomings of existing shortest path analysis methods. It has been reported by various researchers that PSO performs better than other evolutionary optimization algorithms in terms of success rate and solution quality. Further Geographic Information Systems (GIS) have emerged as key information systems for geospatial data analysis and visualization. This research paper is focused towards the application of PSO for solving the shortest path problem between multiple points of interest (POI) based on spatial data of Allahabad City and traffic speed data collected using GPS. Geovisualization of results of analysis is carried out in GIS.

Keywords: GIS, Outliers, PSO, Traffic Data.

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3884 Coerced Delay and Multi Additive Constraints QoS Routing Schemes

Authors: P.S. Prakash, S. Selvan

Abstract:

IP networks are evolving from data communication infrastructure into many real-time applications such as video conferencing, IP telephony and require stringent Quality of Service (QoS) requirements. A rudimentary issue in QoS routing is to find a path between a source-destination pair that satisfies two or more endto- end constraints and termed to be NP hard or complete. In this context, we present an algorithm Multi Constraint Path Problem Version 3 (MCPv3), where all constraints are approximated and return a feasible path in much quicker time. We present another algorithm namely Delay Coerced Multi Constrained Routing (DCMCR) where coerce one constraint and approximate the remaining constraints. Our algorithm returns a feasible path, if exists, in polynomial time between a source-destination pair whose first weight satisfied by the first constraint and every other weight is bounded by remaining constraints by a predefined approximation factor (a). We present our experimental results with different topologies and network conditions.

Keywords: Routing, Quality-of-Service (QoS), additive constraints, shortest path, delay coercion.

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3883 An Improved Transfer Logic of the Two-Path Algorithm for Acoustic Echo Cancellation

Authors: Chang Liu, Zishu He

Abstract:

Adaptive echo cancellers with two-path algorithm are applied to avoid the false adaptation during the double-talk situation. In the two-path algorithm, several transfer logic solutions have been proposed to control the filter update. This paper presents an improved transfer logic solution. It improves the convergence speed of the two-path algorithm, and allows the reduction of the memory elements and computational complexity. Results of simulations show the improved performance of the proposed solution.

Keywords: Acoustic echo cancellation, Echo return lossenhancement (ERLE), Two-path algorithm, Transfer logic

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3882 Memetic Algorithm Based Path Planning for a Mobile Robot

Authors: Neda Shahidi, Hadi Esmaeilzadeh, Marziye Abdollahi, Caro Lucas

Abstract:

In this paper, the problem of finding the optimal collision free path for a mobile robot, the path planning problem, is solved using an advanced evolutionary algorithm called memetic algorithm. What is new in this work is a novel representation of solutions for evolutionary algorithms that is efficient, simple and also compatible with memetic algorithm. The new representation makes it possible to solve the problem with a small population and in a few generations. It also makes the genetic operator simple and allows using an efficient local search operator within the evolutionary algorithm. The proposed algorithm is applied to two instances of path planning problem and the results are available.

Keywords: Path planning problem, Memetic Algorithm, Representation.

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3881 Fuzzy Shortest Paths Approximation for Solving the Fuzzy Steiner Tree Problem in Graphs

Authors: Miloš Šeda

Abstract:

In this paper, we deal with the Steiner tree problem (STP) on a graph in which a fuzzy number, instead of a real number, is assigned to each edge. We propose a modification of the shortest paths approximation based on the fuzzy shortest paths (FSP) evaluations. Since a fuzzy min operation using the extension principle leads to nondominated solutions, we propose another approach to solving the FSP using Cheng's centroid point fuzzy ranking method.

Keywords: Steiner tree, single shortest path problem, fuzzyranking, binary heap, priority queue.

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3880 Optimal and Critical Path Analysis of State Transportation Network Using Neo4J

Authors: Pallavi Bhogaram, Xiaolong Wu, Min He, Onyedikachi Okenwa

Abstract:

A transportation network is a realization of a spatial network, describing a structure which permits either vehicular movement or flow of some commodity. Examples include road networks, railways, air routes, pipelines, and many more. The transportation network plays a vital role in maintaining the vigor of the nation’s economy. Hence, ensuring the network stays resilient all the time, especially in the face of challenges such as heavy traffic loads and large scale natural disasters, is of utmost importance. In this paper, we used the Neo4j application to develop the graph. Neo4j is the world's leading open-source, NoSQL, a native graph database that implements an ACID-compliant transactional backend to applications. The Southern California network model is developed using the Neo4j application and obtained the most critical and optimal nodes and paths in the network using centrality algorithms. The edge betweenness centrality algorithm calculates the critical or optimal paths using Yen's k-shortest paths algorithm, and the node betweenness centrality algorithm calculates the amount of influence a node has over the network. The preliminary study results confirm that the Neo4j application can be a suitable tool to study the important nodes and the critical paths for the major congested metropolitan area.

Keywords: Transportation network, critical path, connectivity reliability, network model, Neo4J application, optimal path, critical path, edge betweenness centrality index, node betweenness centrality index, Yen’s k-shortest paths.

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3879 Adding Edges between One Node and Every Other Node with the Same Depth in a Complete K-ary Tree

Authors: Kiyoshi Sawada, Takashi Mitsuishi

Abstract:

This paper proposes a model of adding relations between members of the same level in a pyramid organization structure which is a complete K-ary tree such that the communication of information between every member in the organization becomes the most efficient. When edges between one node and every other node with the same depth N in a complete K-ary tree of height H are added, an optimal depth N* = H is obtained by minimizing the total path length which is the sum of lengths of shortest paths between every pair of all nodes.

Keywords: complete K-ary tree, organization structure, shortest path

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3878 An Efficient and Optimized Multi Constrained Path Computation for Real Time Interactive Applications in Packet Switched Networks

Authors: P.S. Prakash, S. Selvan

Abstract:

Quality of Service (QoS) Routing aims to find path between source and destination satisfying the QoS requirements which efficiently using the network resources and underlying routing algorithm and to fmd low-cost paths that satisfy given QoS constraints. One of the key issues in providing end-to-end QoS guarantees in packet networks is determining feasible path that satisfies a number of QoS constraints. We present a Optimized Multi- Constrained Routing (OMCR) algorithm for the computation of constrained paths for QoS routing in computer networks. OMCR applies distance vector to construct a shortest path for each destination with reference to a given optimization metric, from which a set of feasible paths are derived at each node. OMCR is able to fmd feasible paths as well as optimize the utilization of network resources. OMCR operates with the hop-by-hop, connectionless routing model in IP Internet and does not create any loops while fmding the feasible paths. Nodes running OMCR not necessarily maintaining global view of network state such as topology, resource information and routing updates are sent only to neighboring nodes whereas its counterpart link-state routing method depend on complete network state for constrained path computation and that incurs excessive communication overhead.

Keywords: QoS Routing, Optimization, feasible path, multiple constraints.

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3877 A Cooperative Multi-Robot Control Using Ad Hoc Wireless Network

Authors: Amira Elsonbaty, Rawya Rizk, Mohamed Elksas, Mofreh Salem

Abstract:

In this paper, a Cooperative Multi-robot for Carrying Targets (CMCT) algorithm is proposed. The multi-robot team consists of three robots, one is a supervisor and the others are workers for carrying boxes in a store of 100×100 m2. Each robot has a self recharging mechanism. The CMCT minimizes robot-s worked time for carrying many boxes during day by working in parallel. That is, the supervisor detects the required variables in the same time another robots work with previous variables. It works with straightforward mechanical models by using simple cosine laws. It detects the robot-s shortest path for reaching the target position avoiding obstacles by using a proposed CMCT path planning (CMCT-PP) algorithm. It prevents the collision between robots during moving. The robots interact in an ad hoc wireless network. Simulation results show that the proposed system that consists of CMCT algorithm and its accomplished CMCT-PP algorithm achieves a high improvement in time and distance while performing the required tasks over the already existed algorithms.

Keywords: Ad hoc network, Computer vision based positioning, Dynamic collision avoidance, Multi-robot, Path planning algorithms, Self recharging.

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3876 Hedonic Motivations for Online Shopping

Authors: Pui-Lai To, E-Ping Sung

Abstract:

The purpose of this study is to investigate hedonic online shopping motivations. A qualitative analysis was conducted to explore the factors influencing online hedonic shopping motivations. The results of the study indicate that traditional hedonic values, consisting of social, role, self-gratification, learning trends, pleasure of bargaining, stimulation, diversion, status, and adventure, and dimensions of flow theory, consisting of control, curiosity, enjoyment, and telepresence, exist in the online shopping environment. Two hedonic motivations unique to Internet shopping, privacy and online shopping achievement, were found. It appears that the most important hedonic value to online shoppers is having the choice to interact or not interact with others while shopping on the Internet. This study serves as a basis for the future growth of Internet marketing.

Keywords: Internet Shopping, Shopping Motivation, Hedonic Motivation.

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3875 A Feasible Path Selection QoS Routing Algorithm with two Constraints in Packet Switched Networks

Authors: P.S.Prakash, S.Selvan

Abstract:

Over the past several years, there has been a considerable amount of research within the field of Quality of Service (QoS) support for distributed multimedia systems. One of the key issues in providing end-to-end QoS guarantees in packet networks is determining a feasible path that satisfies a number of QoS constraints. The problem of finding a feasible path is NPComplete if number of constraints is more than two and cannot be exactly solved in polynomial time. We proposed Feasible Path Selection Algorithm (FPSA) that addresses issues with pertain to finding a feasible path subject to delay and cost constraints and it offers higher success rate in finding feasible paths.

Keywords: feasible path, multiple constraints, path selection, QoS routing

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3874 DNA Computing for an Absolute 1-Center Problem: An Evolutionary Approach

Authors: Zuwairie Ibrahim, Yusei Tsuboi, Osamu Ono, Marzuki Khalid

Abstract:

Deoxyribonucleic Acid or DNA computing has emerged as an interdisciplinary field that draws together chemistry, molecular biology, computer science and mathematics. Thus, in this paper, the possibility of DNA-based computing to solve an absolute 1-center problem by molecular manipulations is presented. This is truly the first attempt to solve such a problem by DNA-based computing approach. Since, part of the procedures involve with shortest path computation, research works on DNA computing for shortest path Traveling Salesman Problem, in short, TSP are reviewed. These approaches are studied and only the appropriate one is adapted in designing the computation procedures. This DNA-based computation is designed in such a way that every path is encoded by oligonucleotides and the path-s length is directly proportional to the length of oligonucleotides. Using these properties, gel electrophoresis is performed in order to separate the respective DNA molecules according to their length. One expectation arise from this paper is that it is possible to verify the instance absolute 1-center problem using DNA computing by laboratory experiments.

Keywords: DNA computing, operation research, 1-center problem.

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3873 Application of Rapidly Exploring Random Tree Star-Smart and G2 Quintic Pythagorean Hodograph Curves to the UAV Path Planning Problem

Authors: Luiz G. Véras, Felipe L. Medeiros, Lamartine F. Guimarães

Abstract:

This work approaches the automatic planning of paths for Unmanned Aerial Vehicles (UAVs) through the application of the Rapidly Exploring Random Tree Star-Smart (RRT*-Smart) algorithm. RRT*-Smart is a sampling process of positions of a navigation environment through a tree-type graph. The algorithm consists of randomly expanding a tree from an initial position (root node) until one of its branches reaches the final position of the path to be planned. The algorithm ensures the planning of the shortest path, considering the number of iterations tending to infinity. When a new node is inserted into the tree, each neighbor node of the new node is connected to it, if and only if the extension of the path between the root node and that neighbor node, with this new connection, is less than the current extension of the path between those two nodes. RRT*-smart uses an intelligent sampling strategy to plan less extensive routes by spending a smaller number of iterations. This strategy is based on the creation of samples/nodes near to the convex vertices of the navigation environment obstacles. The planned paths are smoothed through the application of the method called quintic pythagorean hodograph curves. The smoothing process converts a route into a dynamically-viable one based on the kinematic constraints of the vehicle. This smoothing method models the hodograph components of a curve with polynomials that obey the Pythagorean Theorem. Its advantage is that the obtained structure allows computation of the curve length in an exact way, without the need for quadratural techniques for the resolution of integrals.

Keywords: Path planning, path smoothing, Pythagorean hodograph curve, RRT*-Smart.

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