Search results for: Autonomous navigation

Authors: Selim Yannier, Asif Sabanovic, Ahmet Onat, Muhammet Bastan

Abstract:

In this work, we suggested a new approach for the control of a mobile robot capable of being a building block of an intelligent agent. This approach includes obstacle avoidance and goal tracking implemented as two different sliding mode controllers. A geometry based behavior arbitration is proposed for fusing the two outputs. Proposed structure is tested on simulations and real robot. Results have confirmed the high performance of the method.

Keywords: Autonomous Mobile Robot, Behavior Based Control, Fast Local Obstacle Avoidance, Sliding Mode Control.

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Authors: Changjin Xu, Qianhong Zhang

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In this paper, a delayed competitive system with the effect of toxic substances is investigated. With the aid of differential equations with piecewise constant arguments, a discrete analogue of continuous non-autonomous delayed competitive system with the effect of toxic substances is proposed. By using Gaines and Mawhin,s continuation theorem of coincidence degree theory, a easily verifiable sufficient condition for the existence of positive solutions of difference equations is obtained.

Keywords: Competitive system, periodic solution, discrete time delay, topological degree.

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Authors: Vinicius Binotte, Guilherme Baldo, Christiane Goulart, Carlos Valadão, Eliete Caldeira, Teodiano Bastos

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Socially assistive robotic has become increasingly active and it is present in therapies of people affected for several neurobehavioral conditions, such as Autism Spectrum Disorder (ASD). In fact, robots have played a significant role for positive interaction with children with ASD, by stimulating their social and cognitive skills. This work introduces a mobile socially-assistive robot, which was built for interaction with children with ASD, using non-linear control techniques for this interaction.

Keywords: Socially assistive robotics, mobile robot, autonomous control, autism.

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Authors: Sasan Mohammadi, Samaneh Gholi Mesgarha

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Radio Frequency Identification (RFID) system is looked upon as one of the top ten important technologies in the 20th century and find its applications in many fields such as car industry. The intelligent cars are one important part of this industry and always try to find new and satisfied intelligent cars. The purpose of this paper is to introduce an intelligent car with the based of RFID. By storing the moving control commands such as turn right, turn left, speed up and speed down etc. into the RFID tags beforehand and sticking the tags on the tracks Car can read the moving control commands from the tags and accomplish the proper actions.

Keywords: RFID, Intelligent car, Application of RFID in cars

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Authors: Hidehiko Okada, Yuki Fujii

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Researchers have been applying artificial/ computational intelligence (AI/CI) methods to computer games. In this research field, further researchesare required to compare AI/CI methods with respect to each game application. In thispaper, we report our experimental result on the comparison of evolution strategy, genetic algorithm and their hybrids, applied to evolving controller agents for MarioAI. GA revealed its advantage in our experiment, whereas the expected ability of ES in exploiting (fine-tuning) solutions was not clearly observed. The blend crossover operator and the mutation operator of GA might contribute well to explore the vast search space.

Keywords: Evolutionary algorithm, autonomous game controller agent, neuroevolutions, MarioAI

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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: Andrew Randles, Ilker Ocak, Cheam Daw Don, Navab Singh, Alex Gu

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Nine Degrees of Freedom (9 DOF) systems are already in development in many areas. In this paper, an integrated pressure sensor is proposed that will make use of an already existing monolithic 9 DOF inertial MEMS platform. Capacitive pressure sensors can suffer from limited sensitivity for a given size of membrane. This novel pressure sensor design increases the sensitivity by over 5 times compared to a traditional array of square diaphragms while still fitting within a 2 mm x 2 mm chip and maintaining a fixed static capacitance. The improved design uses one large diaphragm supported by pillars with fixed electrodes placed above the areas of maximum deflection. The design optimization increases the sensitivity from 0.22 fF/kPa to 1.16 fF/kPa. Temperature sensitivity was also examined through simulation.

Keywords: Capacitive pressure sensor, 9 DOF, 10 DOF, sensor, capacitive, inertial measurement unit, IMU, inertial navigation system, INS.

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Authors: Anqi Wang, Linye Zhang

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With the proliferation and development of mobile devices, various mobile apps have appeared to satisfy people’s needs. Metro, with the feature of convenient, punctuality and economic, is one of the most popular modes of transportation in cities. Yet, there are still some inconveniences brought by various factors, impacting tourists’ riding experience. The aim of this study is to help tourists to shorten the time of purchasing tickets, to provide them clear metro information and direct navigation, detailed schedule as well as a way to collect metro cards as souvenir. The study collects data through three phases, including observation, survey and test. Data collected from 106 tourists totally in Wuhan metro stations are discussed in the study. The result reflects tourists’ demand when they take the metro. It also indicates the feasibility of using mobile technology to improve passenger’s experience.

Keywords: Mobile App, metro, public transportation, ticket, mobile payment, indoors positioning, tourists.

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Authors: Geun-Mo Kim, Young-Jae Ryoo

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In this paper, an automatic guided mobile robot using a new magnetic position meter is described. In order to measure the lateral position of a mobile robot, a new magnetic position meter is developed. The magnetic position meter can detect the position of a magnetic wire on the center of road. A mobile robot in designed with a sensing system, a steering system and a driving system. The designed mobile robot is tested to verify the performance of automatic guidance.

Keywords: Autonomous vehicle, magnetic position meter, steering, magnet.

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Authors: Hun Go, Ji-Su Kim, Dong-Ho Lee

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This study considers the problem of determining operation and maintenance schedules for a containership equipped with components during its sailing according to a pre-determined navigation schedule. The operation schedule, which specifies work time of each component, determines the due-date of each maintenance activity, and the maintenance schedule specifies the actual start time of each maintenance activity. The main constraints are component requirements, workforce availability, working time limitation, and inter-maintenance time. To represent the problem mathematically, a mixed integer programming model is developed. Then, due to the problem complexity, we suggest a heuristic for the objective of minimizing the sum of earliness and tardiness between the due-date and the starting time of each maintenance activity. Computational experiments were done on various test instances and the results are reported.

Keywords: Containerships, operation and preventive maintenance schedules, integer programming, heuristic

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Authors: Nada Mouchfiq, Ahmed Habbani, Chaimae Benjbara

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The security aspect of the IoT occupies a place of great importance especially after the evolution that has known this field lastly because it must take into account the transformations and the new applications .Blockchain is a new technology dedicated to the data sharing. However, this does not work the same way in the different systems with different operating principles. This article will discuss network security using the Blockchain to facilitate the sending of messages and information, enabling the use of new processes and enabling autonomous coordination of devices. To do this, we will discuss proposed solutions to ensure a high level of security in these networks in the work of other researchers. Finally, our article will propose a method of security more adapted to our needs as a team working in the ad hoc networks, this method is based on the principle of the Blockchain and that we named ”MPR Blockchain”.

Keywords: Ad hoc networks, blockchain, MPR, security.

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Authors: Xizhi Li, Qinming He

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A trend in agent community or enterprises is that they are shifting from closed to open architectures composed of a large number of autonomous agents. One of its implications could be that interface agent framework is getting more important in multi-agent system (MAS); so that systems constructed for different application domains could share a common understanding in human computer interface (HCI) methods, as well as human-agent and agent-agent interfaces. However, interface agent framework usually receives less attention than other aspects of MAS. In this paper, we will propose an interface web agent framework which is based on our former project called WAF and a Distributed HCI template. A group of new functionalities and implications will be discussed, such as web agent presentation, off-line agent reference, reconfigurable activation map of agents, etc. Their enabling techniques and current standards (e.g. existing ontological framework) are also suggested and shown by examples from our own implementation in WAF.

Keywords: HCI, Interface agent, MAS.

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Authors: F. Calisir, C. A. Gumussoy, A. E. Bayraktaroglu, E. Saygivar

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Meeting users- requirements is one of predictors of project success. There should be a match between the expectations of the users and the perception of key project personnel with respect to usability and functionality. The aim of this study is to make a comparison of key project personnel-s and potential users- (customer representatives) evaluations of the relative importance of usability and functionality factors in a software design project. Analytical Network Process (ANP) was used to analyze the relative importance of the factors. The results show that navigation and interaction are the most significant factors,andsatisfaction and efficiency are the least important factors for both groups. Further, it can be concluded that having similar orders and scores of usability and functionality factors for both groups shows that key project personnel have captured the expectations and requirements of potential users accurately.

Keywords: Functionality, software design, usability.

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Authors: Anna Nedyalkova, KrassimirNedyalkov, TeodoraBakardjieva

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In the present paper, we-ll explore how social media tools provide an opportunity for new developments of the e-Learning in the context of managing personal knowledge. There will be a discussion how social media tools provide a possibility for helping knowledge workersand students to gather, organize and manage their personal information as a part of the e-learning process. At the centre of this social software driven approach to e-learning environments are the challenges of personalization and collaboration. We-ll share concepts of how organizations are using social media for e-Learning and believe that integration of these tools into traditional e-Learning is probably not a choice, but inevitability. Students- Survey of use of web technologies and social networking tools is presented. Newly developed framework for semantic blogging capable of organizing results relevant to user requirements is implemented at Varna Free University (VFU) to provide more effective navigation and search.

Keywords: Semantic blogging, social media tools, e-Learning, web 2.0, web 3.0.

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Authors: K. Raghuwaiya, S. Singh, B. Sharma, J. Vanualailai

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This paper presents a set of artificial potential field functions that improves upon, in general, the motion planning and posture control, with theoretically guaranteed point and posture stabilities, convergence and collision avoidance properties of 3-trailer systems in a priori known environment. We basically design and inject two new concepts; ghost walls and the distance optimization technique (DOT) to strengthen point and posture stabilities, in the sense of Lyapunov, of our dynamical model. This new combination of techniques emerges as a convenient mechanism for obtaining feasible orientations at the target positions with an overall reduction in the complexity of the navigation laws. The effectiveness of the proposed control laws were demonstrated via simulations of two traffic scenarios.

Keywords: Artificial potential fields, 3-trailer systems, motion planning, posture, parking and collision-free trajectories.

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Authors: Amel Ltifi, Ahmed Zouinkhi, Med Salim Bouhlel

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Spontaneous networks such as VANET are in general deployed in an open and thus easily accessible environment. Therefore, they are vulnerable to attacks. Trust management is one of a set of security solutions dedicated to this type of networks. Moreover, the strong mobility of the nodes (in the case of VANET) makes the establishment of a trust management system complex. In this paper, we present a concept of ‘Active Vehicle’ which means an autonomous vehicle that is able to make decision about trustworthiness of alert messages transmitted about road accidents. The behavior of an “Active Vehicle” is modeled using Petri Nets.

Keywords: Component, active vehicle, cooperation, petri nets, trust management, VANET.

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Authors: J. A. Lopez, J. E. Olguín, C. Camargo, G. A. Quijano, R. Martínez

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An anthropometric study applied to 1,115 students of the Faculty of Chemical Sciences and Engineering of the Autonomous University of California. Thirteen individual measurements were taken in a sitting position. The results obtained allow forming a reliable anthropometric database for statistical studies and analysis and inferences of specific distributions, so the opinion of experts in occupational medicine recommendations may emit to reduce risks resulting in an alteration of the vital signs during the execution of their school activities. Another use of these analyses is to use them as a reliable reference for future deeper research, to the design of spaces, tools, utensils, workstations, with anthropometric dimensions and ergonomic characteristics suitable to use.

Keywords: Anthropometry, vital signs, students.

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Authors: Kaihong Zhao

Abstract:

In this paper, the existence of 2n positive periodic solutions for n species non-autonomous Lotka-Volterra cooperative systems with harvesting terms is established by using Mawhin-s continuation theorem of coincidence degree theory and matrix inequality. An example is given to illustrate the effectiveness of our results.

Keywords: Multiple positive periodic solutions, Nonautonomous Lotka-Volterra cooperative system, Coincidence degree, Harvesting term.

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Authors: Nizar Sakli, Chayma Bahar, Chokri Baccouch, Hedi Sakli

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If connected objects multiply, they are becoming a challenge in more than one way. In particular by their consumption and their supply of electricity. A large part of the new generations of connected objects will only be able to develop if it is possible to make them entirely autonomous in terms of energy. Some manufacturers are therefore developing products capable of recovering energy from their environment. Vital solutions in certain contexts, such as the medical industry. Energy recovery from the environment is a reliable solution to solve the problem of powering wireless connected objects. This paper presents and study a optically transparent solar patch antenna in frequency band of 2.4 GHz for connected objects in the future standard 5G for energy harvesting and RF transmission.

Keywords: 5G, IoT, wireless communications, antenna, solar cell.

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Authors: Wei Sun, Ruilin Zheng, Xuyuan Chen

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Micro power sources are required to be used in autonomous microelectromechanical system (MEMS). In this paper,  we designed and fabricated a three dimensional (3D) MEMS supercapacitor, which is consisting of conformal silicon  dioxide/titanium/polypyrrole (PPy) layers on silicon substrate. At first, ''through-structure'' was fabricated on the silicon substrate by high-aspect-ratio deep reactive ion etching (DRIE) method, which enlarges the available surface area significantly. Then the SiO2/Ti/PPy layers grew sequentially on the ³through-structure´. Finally, the supercapacitor was investigated by electrochemical methods.

Keywords: MEMS, Supercapacitor, DRIE, 3D.

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Authors: Hae-Won Seo, Yong-Gu Lee

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Recent progress in the next generation of automobile technology is geared towards incorporating information technology into cars. Collectively called smart cars are bringing intelligence to cars that provides comfort, convenience and safety. A branch of smart cars is connected-car system. The key concept in connected-cars is the sharing of driving information among cars through decentralized manner enabling collective intelligence. This paper proposes a foundation of the information model that is necessary to define the driving information for smart-cars. Road conditions are modeled through a unique data structure that unambiguously represent the time variant traffics in the streets. Additionally, the modeled data structure is exemplified in a navigational scenario and usage using UML. Optimal driving route searching is also discussed using the proposed data structure in a dynamically changing road conditions.

Keywords: Connected-car, data modeling, route planning, navigation system.

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Authors: Eatedal A. Alabdulkreem, Hamed S. Al-Raweshidy, Maysam F. Abbod

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Border Gateway Protocol (BGP) is the standard routing protocol between various autonomous systems (AS) in the internet. In the event of failure, a considerable delay in the BGP convergence has been shown by empirical measurements. During the convergence time the BGP will repeatedly advertise new routes to some destination and withdraw old ones until it reach a stable state. It has been found that the KEEPALIVE message timer and the HOLD time are tow parameters affecting the convergence speed. This paper aims to find the optimum value for the KEEPALIVE timer and the HOLD time that maximally reduces the convergence time without increasing the traffic. The KEEPALIVE message timer optimal value founded by this paper is 30 second instead of 60 seconds, and the optimal value for the HOLD time is 90 seconds instead of 180 seconds.

Keywords: BGP, Convergence Time, HOLD time, Keep alive.

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Authors: T. Ahilan, V. Aswin Adityan, S. Kailash

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UAV’s are small remote operated or automated aerial surveillance systems without a human pilot aboard. UAV’s generally finds its use in military and special operation application, a recent growing trend in UAV’s finds its application in several civil and nonmilitary works such as inspection of power or pipelines. The objective of this paper is the augmentation of a UAV in order to replace the existing expensive sonar (Sound Navigation And Ranging) based equipment amongst small scale fisherman, for whom access to sonar equipment are restricted due to limited economic resources. The surveillance equipment’s present in the UAV will relay data and GPS (Global Positioning System) location onto a receiver on the fishing boat using RF signals, using which the location of the schools of fishes can be found. In addition to this, an emergency beacon system is present for rescue operations and drone recovery.

Keywords: GPS, RF signals, School of fish, Sonar, Surveillance UAV, Video stream.

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Authors: Amir Anvar, Dong Yang Li

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This paper presents an overview of the Ocean wave kinetic energy harvesting system. Energy harvesting is a concept by which energy is captured, stored, and utilized using various sources by employing interfaces, storage devices, and other units. Ocean wave energy harvesting in which the kinetic and potential energy contained in the natural oscillations of Ocean waves are converted into electric power. The kinetic energy harvesting system could be used for a number of areas. The main applications that we have discussed in this paper are to how generate the energy from Ocean wave energy (kinetic energy) to electric energy that is to eliminate the requirement for continual battery replacement.

Keywords: Energy harvesting, power system, oceanic, sensors, autonomous.

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Authors: Mohammad J. Heydari, Farnaz Derakhshan

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In this paper, we focus on the problem of driving and herding a collection of autonomous actors to a given area. Then, a new method based on multi-agent coordination is proposed for solving the problem. In our proposed method, we assume that the environment is covered by sensors. When an event is occurred, sensors forward information to a sink node. Based on received information, the sink node will estimate the direction and the speed of movement of actors and announce the obtained value to the actors. The actors coordinate to reach the target location.

Keywords: Coordination, Environmental Inspection, Multiagent systems, Wireless Sensor and Actor Networks (WSANs)

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Authors: Avinesh Prasad, Bibhya Sharma, Jito Vanualailai

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This paper proposes a solution to the motion planning and control problem of a point-mass robot which is required to move safely to a designated target in a priori known workspace cluttered with fixed elliptical obstacles of arbitrary position and sizes. A tailored and unique algorithm for target convergence and obstacle avoidance is proposed that will work for any number of fixed obstacles. The control laws proposed in this paper also ensures that the equilibrium point of the given system is asymptotically stable. Computer simulations with the proposed technique and applications to a planar (RP) manipulator will be presented.

Keywords: Point-mass Robot, Asymptotic stability, Motionplanning, Planar Robot Arm.

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Authors: Chaimaa Messaoudi, Rachida Fissoune, Hassan Badir

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Technological advances of computer science and data analysis are helping to provide continuously huge volumes of biological data, which are available on the web. Such advances involve and require powerful techniques for data integration to extract pertinent knowledge and information for a specific question. Biomedical exploration of these big data often requires the use of complex queries across multiple autonomous, heterogeneous and distributed data sources. Semantic integration is an active area of research in several disciplines, such as databases, information-integration, and ontology. We provide a survey of some approaches and techniques for integrating biological data, we focus on those developed in the ontology community.

Keywords: Semantic data integration, biological ontology, linked data, semantic web, OWL, RDF.

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Authors: M. İskefiyeli, İ. Özçelik

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PROFIBUS (PROcess FIeld BUS) which is defined with international standarts (IEC61158, EN50170) is the most popular fieldbus, and provides a communication between industrial applications which are located in different control environment and location in manufacturing, process and building automation. Its communication speed is from 9.6 Kbps to 12 Mbps over distances from 100 to 1200 meters, and so it is to be often necessary to interconnect them in order to break these limits. Unfortunately this interconnection raises several issues and the solutions found so far are not very satisfactory. In this paper, we propose a new solution to interconnect PROFIBUS segments, which uses a wireless MAN based on the IEEE 802.16 standard as a backbone system. Also, the solution which is described a model for internetworking unit integrates the traffic generated by PROFIBUS segments into IEEE 802.16 wireless MAN using encapsulation technique.

Keywords: Internetworking Unit, PROFIBUS, WiMAX, WMAN, 802.16.

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Authors: Jing Lu, Malcolm Keech, Weiru Chen

Abstract:

Web usage mining is an interesting application of data mining which provides insight into customer behaviour on the Internet. An important technique to discover user access and navigation trails is based on sequential patterns mining. One of the key challenges for web access patterns mining is tackling the problem of mining richly structured patterns. This paper proposes a novel model called Web Access Patterns Graph (WAP-Graph) to represent all of the access patterns from web mining graphically. WAP-Graph also motivates the search for new structural relation patterns, i.e. Concurrent Access Patterns (CAP), to identify and predict more complex web page requests. Corresponding CAP mining and modelling methods are proposed and shown to be effective in the search for and representation of concurrency between access patterns on the web. From experiments conducted on large-scale synthetic sequence data as well as real web access data, it is demonstrated that CAP mining provides a powerful method for structural knowledge discovery, which can be visualised through the CAP-Graph model.

Keywords: concurrent access patterns (CAP), CAP mining and modelling, CAP-Graph, web access patterns (WAP), WAP-Graph, Web usage mining.

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Authors: Ravihansa Rajapakse, Malshika Dias, Kanishka Weerasekara, Anuja Dharmaratne, Prasad Wimalaratne

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In this paper we discuss a set of guidelines which could be adapted when designing an audio user interface for the visually impaired. It is based on an audio environment that is focused on audio positioning. Unlike current applications which only interpret Graphical User Interface (GUI) for the visually impaired, this particular audio environment bypasses GUI to provide a direct auditory output. It presents the capability of two dimensional (2D) navigation on audio interfaces. This paper highlights the significance of a 2D audio environment with spatial information in the context of the visually impaired. A thorough usability study has been conducted to prove the applicability of proposed design guidelines for these auditory interfaces. While proving these guidelines, previously unearthed design aspects have been revealed in this study.

Keywords: Human Computer Interaction, Audio User Interfaces, 2D Audio Environment, Visually Impaired Users

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