Search results for: built environment.

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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Authors: W. J. Strydom, K. Puren

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Place-making is viewed here as an empowering process in which people represent, improve and maintain their spatial (natural or built) environment. With the above-mentioned in mind, place-making is multi-dimensional and include a spatial dimension (including visual properties or the end product/plan), a procedural dimension during which (negotiation/discussion of ideas with all relevant stakeholders in terms of end product/plan) and a psychological dimension (inclusion of intrinsic values and meanings related to a place in the end product/plan). These three represent dimensions of place-making. The purpose of this paper is to explore these dimensions of place-making in a case study of a local community in Ikageng, Potchefstroom, North-West Province, South Africa. This case study represents an inclusive process that strives to empower a local community (forcefully relocated due to Apartheid legislation in South Africa). This case study focussed on the inclusion of participants in the decision-making process regarding their daily environment. By means of focus group discussions and a collaborative design workshop, data is generated and ultimately creates a linkage with the theoretical dimensions of place-making. This paper contributes to the field of spatial planning due to the exploration of the dimensions of place-making and the relevancy of this process on spatial planning (especially in a South African setting).

Keywords: Case study, place-making, spatial planning, spatial dimension, procedural dimension, psychological dimension.

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Authors: Noura Boudiaf, Abdelhamid Djebbar

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Colored Petri Nets (CPN) are very known kind of high level Petri nets. With sound and complete semantics, rewriting logic is one of very powerful logics in description and verification of non-deterministic concurrent systems. Recently, CPN semantics are defined in terms of rewriting logic, allowing us to built models by formal reasoning. In this paper, we propose an automatic translation of CPN to the rewriting logic language Maude. This tool allows graphical editing and simulating CPN. The tool allows the user drawing a CPN graphically and automatic translating the graphical representation of the drawn CPN to Maude specification. Then, Maude language is used to perform the simulation of the resulted Maude specification. It is the first rewriting logic based environment for this category of Petri Nets.

Keywords: Colored Petri Nets, Rewriting Logic, Maude, Graphical Edition, Automatic Translation, Simulation.

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Authors: George Eleftherakis, Petros Kefalas, Anna Sotiriadou, Evangelos Kehris

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Recent advances in both the testing and verification of software based on formal specifications of the system to be built have reached a point where the ideas can be applied in a powerful way in the design of agent-based systems. The software engineering research has highlighted a number of important issues: the importance of the type of modeling technique used; the careful design of the model to enable powerful testing techniques to be used; the automated verification of the behavioural properties of the system; the need to provide a mechanism for translating the formal models into executable software in a simple and transparent way. This paper introduces the use of the X-machine formalism as a tool for modeling biology inspired agents proposing the use of the techniques built around X-machine models for the construction of effective, and reliable agent-based software systems.

Keywords: Biology inspired agent, formal methods, x-machines.

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Authors: Durgesh Kumar Ojha, Monica Subashini

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The proposed method is to study and analyze Electrocardiograph (ECG) waveform to detect abnormalities present with reference to P, Q, R and S peaks. The first phase includes the acquisition of real time ECG data. In the next phase, generation of signals followed by pre-processing. Thirdly, the procured ECG signal is subjected to feature extraction. The extracted features detect abnormal peaks present in the waveform Thus the normal and abnormal ECG signal could be differentiated based on the features extracted. The work is implemented in the most familiar multipurpose tool, MATLAB. This software efficiently uses algorithms and techniques for detection of any abnormalities present in the ECG signal. Proper utilization of MATLAB functions (both built-in and user defined) can lead us to work with ECG signals for processing and analysis in real time applications. The simulation would help in improving the accuracy and the hardware could be built conveniently.

Keywords: ECG Waveform, Peak Detection, Arrhythmia, Matlab.

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Authors: T. Anbu, K. Aravind Kumar

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The road environment information is needed accurately for applications such as road maintenance and virtual 3D city modeling. Mobile laser scanning (MLS) produces dense point clouds from huge areas efficiently from which the road and its environment can be modeled in detail. Objects such as buildings, cars and trees are an important part of road environments. Different methods have been developed for detection of above such objects, but still there is a lack of accuracy due to the problems of illumination, environmental changes, and multiple objects with same features. In this work the comparison between different classifiers such as Multiclass SVM, kNN and Multiclass LDA for the road environment detection is analyzed. Finally the classification accuracy for kNN with LBP feature improved the classification accuracy as 93.3% than the other classifiers.

Keywords: Classifiers, feature extraction, mobile-based laser scanning, object location estimation.

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Authors: Wang Zhanquan, Yang Zeping, Gu Chunhua, Zhu Fazhi, Guo Weibin

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Recently, Massive Open Online Courses (MOOCs) are becoming the new trend of education. There are many problems under the environment of Database Principle curriculum teaching process in MOOCs, such as teaching ideas and theories which are out of touch with the reality, how to carry out the technical teaching and interactive practice in the MOOCs environment, thus the methods of database course under the environment of MOOCs are proposed. There are three processes to deal with problem solving in the research, which are problems proposed, problems solved, and inductive analysis. The present research includes the design of teaching contents, teaching methods in classroom, flipped classroom teaching mode under the environment of MOOCs, learning flow method and large practice homework. The database designing ability is systematically improved based on the researching methods.

Keywords: Problem solving-driven, MOOCs, teaching art, learning flow.

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Authors: Sameh Frikha, Mohamed Salah Abid

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We investigate the performance of an integrated cascade (IC) refrigeration system which uses environment friendly zeotropic mixtures. Computational calculation has been carried out by varying pressure level at the evaporator and the condenser of the system. Effects of mass flow rate of the refrigerant on the coefficient of performance (COP) are presented. We show that the integrated cascade system produces ultra-low temperatures in the evaporator by using environment friendly zeotropic mixture.

Keywords: Coefficient of Performance, Environment friendly zeotropic mixture, Integrated cascade, Ultra low temperature, Vapor compression refrigeration cycles.

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Authors: A. Tellaeche, R. Arana, I.Maurtua

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The exhaustive quality control is becoming more and more important when commercializing competitive products in the world's globalized market. Taken this affirmation as an undeniable truth, it becomes critical in certain sector markets that need to offer the highest restrictions in quality terms. One of these examples is the percussion cap mass production, a critical element assembled in firearm ammunition. These elements, built in great quantities at a very high speed, must achieve a minimum tolerance deviation in their fabrication, due to their vital importance in firing the piece of ammunition where they are built in. This paper outlines a machine vision development for the 100% inspection of percussion caps obtaining data from 2D and 3D simultaneous images. The acquisition speed and precision of these images from a metallic reflective piece as a percussion cap, the accuracy of the measures taken from these images and the multiple fabrication errors detected make the main findings of this work.

Keywords: critical tolerance, high speed decision makingsimultaneous 2D/3D machine vision.

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Authors: Xiaoqing Wang, Fang Youyuan, Zheng Yanxing, Gu Tianyang, Zong Jianjian, Tong Jinrong

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Compared with traditional distributed environment, the net-centric environment brings on more demanding challenges for information sharing with the characteristics of ultra-large scale and strong distribution, dynamic, autonomy, heterogeneity, redundancy. This paper realizes an information sharing model and a series of core services, through which provides an open, flexible and scalable information sharing platform.

Keywords: Net-centric environment, Information sharing, Metadata registry and catalog, Cross-domain data access control.

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Authors: Karrar Raoof Kareem Kamoona, Enas Fathi Taher AlHares, Zeynep Isik

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The various disciplines in the construction industry and the co-existence of the people in the various disciplines are what builds well-developed, closely-knit interpersonal skills at various hierarchical levels thus leading to a varied way of leadership. The varied decision making aspects during the lifecycle of a project include: autocratic, participatory and last but not least, free-rein. We can classify some of the decision makers in the construction industry in a hierarchical manner as follows: project executive, project manager, superintendent, office engineer and finally the field engineer. This survey looked at how decisions are made during the construction period by the key stakeholders in the project. From the paper it is evident that the three decision making aspects can be used at different times or at times together in order to bring out the best leadership decision. A blend of different leadership styles should be used to enhance the success rate during the project lifecycle.

Keywords: Leadership style, construction, decision-making, built environment.

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Authors: Sheetal Sharma

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Runoff,decreasing water levels and recharge in urban areas have been a complex issue now a days pointing defective urban design and increasing demography as cause. Very less has been discussed or analysed for water sensitive Urban Master Plans or local area plans. Land use planning deals with land transformation from natural areas into developed ones, which lead to changes in natural environment. Elaborated knowledge of relationship between the existing patterns of land use-land cover and recharge with respect to prevailing soil below is less as compared to speed of development. The parameters of incompatibility between urban functions and the functions of the natural environment are becoming various. Changes in land patterns due to built up, pavements, roads and similar land cover affects surface water flow seriously. It also changes permeability and absorption characteristics of the soil. Urban planners need to know natural processes along with modern means and best technologies available,as there is a huge gap between basic knowledge of natural processes and its requirement for balanced development planning leading to minimum impact on water recharge. The present paper analyzes the variations in land use land cover and their impacts on surface flows and sub-surface recharge in study area. The methodology adopted was to analyse the changes in land use and land cover using GIS and Civil 3d auto cad. The variations were used in  computer modeling using Storm-water Management Model to find out the runoff for various soil groups and resulting recharge observing water levels in POW data for last 40 years of the study area. Results were anlayzed again to find best correlations for sustainable recharge in urban areas.

Keywords: Geology, runoff, urban planning, land use-land cover.

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Authors: M. Jändel

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A new conceptual architecture for low-level neural pattern recognition is presented. The key ideas are that the brain implements support vector machines and that support vectors are represented as memory patterns in competitive queuing memories. A binary classifier is built from two competitive queuing memories holding positive and negative valence training examples respectively. The support vector machine classification function is calculated in synchronized evaluation cycles. The kernel is computed by bisymmetric feed-forward networks feed by sensory input and by competitive queuing memories traversing the complete sequence of support vectors. Temporary summation generates the output classification. It is speculated that perception apparatus in the brain reuses structures that have evolved for enabling fluent execution of prepared action sequences so that pattern recognition is built on internalized motor programmes.

Keywords: Competitive queuing model, Olfactory system, Pattern recognition, Support vector machine, Thalamus

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Authors: Kikuo Asai, Yuji Sugimoto

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We developed a prototype system for multiplayer RC-car driving in a collaborative augmented reality (AR) environment. The tele-existence environment is constructed by superimposing digital data onto images captured by a camera on an RC-car, enabling players to experience an augmented coexistence of the digital content and the real world. Marker-based tracking was used for estimating position and orientation of the camera. The plural RC-cars can be operated in a field where square markers are arranged. The video images captured by the camera are transmitted to a PC for visual tracking. The RC-cars are also tracked by using an infrared camera attached to the ceiling, so that the instability is reduced in the visual tracking. Multimedia data such as texts and graphics are visualized to be overlaid onto the video images in the geometrically correct manner. The prototype system allows a tele-existence sensation to be augmented in a collaborative AR environment.

Keywords: Multiplayer, RC-car, Collaborative Environment, Augmented Reality.

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Authors: Nazirah Zainul Abidin

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The creation of a sustainable future depends on the knowledge and involvement of the people, as well as an understanding of the consequences of individual actions. Construction industry has long been associated with the detrimental effects to our mother earth. In Malaysia, the government, professional bodies and private companies are beginning to take heed in the necessity to reduce this environmental problem without restraining the need for development. This paper focuses on the actions undertaken by the Malaysian government, non-government organizations and construction players in promoting sustainability in construction. To ensure that those concerted efforts are not only skin deep in its impact, a survey was conducted to investigate the awareness of the developers regarding this issue and whether those developers has absorb the concept of sustainable construction in their current practices. The survey revealed that although the developers are aware of the rising issues on sustainability, little efforts are generated from them in implementing it. More effort is necessary to boost this application and further stimulate actions and strategies towards a sustainable built environment.

Keywords: Environmental sustainability, Malaysian construction industry, Malaysian developers, Sustainable construction.

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Authors: Purnomo Yustianto, Robin Doss, Suhardi, Novianto Budi Kurniawan

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As a term for characterizing a process of devising a service system, the term ‘service engineering’ is still regarded as an ‘open’ research challenge due to unspecified details and conflicting perspectives. This paper presents consolidated service engineering ontologies in collecting, specifying and defining relationship between components pertinent within the context of service engineering. The ontologies are built by way of literature surveys from the collected conceptual works by collating various concepts into an integrated ontology. Two ontologies are produced: general service ontology and software service ontology. The software-service ontology is drawn from the informatics domain, while the generalized ontology of a service system is built from both a business management and the information system perspective. The produced ontologies are verified by exercising conceptual operationalizations of the ontologies in adopting several service orientation features and service system patterns. The proposed ontologies are demonstrated to be sufficient to serve as a basis for a service engineering framework.

Keywords: Engineering, ontology, service, SoaML.

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Authors: Madihah Mohd Saudi, Zul Hilmi Abdullah

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This research paper presents a framework on how to build up malware dataset.Many researchers took longer time to clean the dataset from any noise or to transform the dataset into a format that can be used straight away for testing. Therefore, this research is proposing a framework to help researchers to speed up the malware dataset cleaningprocesses which later can be used for testing. It is believed, an efficient malware dataset cleaning processes, can improved the quality of the data, thus help to improve the accuracy and the efficiency of the subsequent analysis. Apart from that, an in-depth understanding of the malware taxonomy is also important prior and during the dataset cleaning processes. A new Trojan classification has been proposed to complement this framework.This experiment has been conducted in a controlled lab environment and using the dataset from VxHeavens dataset. This framework is built based on the integration of static and dynamic analyses, incident response method and knowledge database discovery (KDD) processes.This framework can be used as the basis guideline for malware researchers in building malware dataset.

Keywords: Dataset, knowledge database discovery (KDD), malware, static and dynamic analyses.

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Authors: Marilyn Lim Chien Hui, Nabil Elmarzouqi, Chan Huah Yong

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This paper describes the authorization system architecture for Pervasive Grid environment. It discusses the characteristics of classical authorization system and requirements of the authorization system in pervasive grid environment as well. Based on our analysis of current systems and taking into account the main requirements of such pervasive environment, we propose new authorization system architecture as an extension of the existing grid authorization mechanisms. This architecture not only supports user attributes but also context attributes which act as a key concept for context-awareness thought. The architecture allows authorization of users dynamically when there are changes in the pervasive grid environment. For this, we opt for hybrid authorization method that integrates push and pull mechanisms to combine the existing grid authorization attributes with dynamic context assertions. We will investigate the proposed architecture using a real testing environment that includes heterogeneous pervasive grid infrastructures mapped over multiple virtual organizations. Various scenarios are described in the last section of the article to strengthen the proposed mechanism with different facilities for the authorization procedure.

Keywords: Pervasive Grid, Authorization System, Contextawareness, Ubiquity.

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Authors: Eddie Soulier, Philippe Calvez, Florie Bugeaud, Francis Rousseaux, Jacky Legrand

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Social, mobility and information aggregation inside business environment need to converge to reach the next step of collaboration to enhance interaction and innovation. The following article is based on the “Assemblage" concept seen as a framework to formalize new user interfaces and applications. The area of research is the Energy Social Business Environment, especially the Energy Smart Grids, which are considered as functional and technical foundations of the revolution of the Energy Sector of tomorrow. The assemblages are modelized by means of mereology and simplicial complexes. Its objective is to offer new central attention and decision-making tools to end-users.

Keywords: Activity Streams, Assemblage, Energy Social Business Environment, Simplicial Complex, Smart Grid

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Authors: Rajesh Kumar, Roopali Dogra, Puneet Aggarwal

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Based on a survey conducted for second and third year students of the electrical engineering department at Maharishi Markandeshwar University, India, it was found that around 92% of students felt that it would be better to introduce a virtual environment for laboratory experiments. Hence, a need was felt to perform modern pedagogy techniques for students which consist of a virtual environment using MATLAB/Simulink. In this paper, a virtual environment for the speed control of a DC motor is performed using MATLAB/Simulink. The various speed control methods for the DC motor include the field resistance control method and armature voltage control method. The performance analysis of the DC motor is hence analyzed.

Keywords: Pedagogy techniques, speed control, virtual environment, DC motor, field control, voltage control.

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Authors: Mosses E. Lufuke

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This paper attempted to investigate whether there is Granger-causality running from trade to environment as evidenced in the changing climatic condition and land degradation. Using Tanzania as the reference, VAR-Granger-causality test was employed to rationalize the conundrum of causal-effect relationship between trade and environment. The changing climatic condition, as the proxy of both nitrous oxide emissions (in thousand metric tons of CO₂ equivalent) and land degradation measured by the size of arable land were tested against trade using both exports and imports variables. The result indicated that neither of the trade variables Granger-cause the variability on gas emissions and arable land size. This suggests the possibility that all trade concerns in relation to environment to have been internalized in domestic policies to offset any likely negative consequence.

Keywords: Trade, growth, impact, environment.

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Authors: Zhou Hong, Gu Xiao-Qing, Lıu Hong-Jiao, Leng Jing

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Seamless learning is becoming a research hotspot in recent years, and the emerging of micro-lectures, flipped classroom has strengthened the development of seamless learning. Based on the characteristics of the seamless learning across time and space and the course structure of the flipped classroom, and the theories of language learning, we put forward the language learning model which can support ‘seamless flipped’ environment (abbreviated as ‘S-F’). Meanwhile, the characteristics of the ‘S-F’ learning environment, the corresponding framework construction and the activity design of diversified corpora were introduced. Moreover, a language learning app named ‘Daily Speaking’ was developed to facilitate the practice of the language learning model in ‘S-F’ environment. In virtue of the learning case of Shanghai language, the rationality and feasibility of this framework were examined, expecting to provide a reference for the design of ‘S-F’ learning in different situations.

Keywords: Seamless learning, flipped classroom, seamless-flipped environment, language learning model.

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Authors: Baoshan Wei, Shuai Han, Xing Zhang

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Local obstacle avoidance is critical for mobile robot navigation. It is a challenging task to ensure path optimality and safety in cluttered environments. We proposed an Environment Aware Dynamic Window Approach in this paper to cope with the issue. The method integrates environment characterization into Dynamic Window Approach (DWA). Two strategies are proposed in order to achieve the integration. The local goal strategy guides the robot to move through openings before approaching the final goal, which solves the local minima problem in DWA. The adaptive control strategy endows the robot to adjust its state according to the environment, which addresses path safety compared with DWA. Besides, the evaluation shows that the path generated from the proposed algorithm is safer and smoother compared with state-of-the-art algorithms.

Keywords: Adaptive control, dynamic window approach, environment aware, local obstacle avoidance, mobile robots.

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Authors: Amr Sayed, Y. Hiroshi, T. Goto, N. Enteria, M. M. Radwan, M. Abdelsamei Eid

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Climate considerations are essential dimensions in the assessment of thermal comfort and indoor environments inside Egyptian housing. The primary aim of this paper is to analyze the indoor environment of new housing in the new city of Assiut in the Southern Upper Egypt zone, in order to evaluate its thermal environment and determine the acceptable indoor operative temperatures. The psychrometric charts for ASHRAE Standard 55 and ACS used in this study would facilitate an overall representation of the climate in one of the hottest months in the summer season. This study helps to understand and deal with this problem and work on a passive cooling ventilation strategy in these contexts in future studies. The results that demonstrated the indoor temperature is too high, ranges between 31°C to 40°C in different natural ventilation strategies. This causes the indoor environment to be far from the optimum comfort operative temperature of ACS except when using air conditioners. Finally, this study is considered a base for developing a new system using natural ventilation with passive cooling strategies.

Keywords: Adaptive comfort standard (ACS), indoor environment, thermal comfort, ventilation.

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Authors: Tayebeh Saghapour, Sara Moridpour, Russell George Thompson

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One of the common aims of transport policy makers is to switch people’s travel to active transport. For this purpose, a variety of transport goals and investments should be programmed to increase the propensity towards active transport mode choice. This paper aims to investigate whether built environment features in neighbourhoods could enhance the odds of active transportation. The present study introduces an index measuring public transport accessibility (PTAI), and a walkability index along with socioeconomic variables to investigate mode choice behaviour. Using travel behaviour data, an ordered logit regression model is applied to examine the impacts of explanatory variables on walking trips. The findings indicated that high rates of active travel are consistently associated with higher levels of walking and public transport accessibility.

Keywords: Active transport, public transport accessibility, walkability, ordered logit model.

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Authors: Houshmand E. Masoumi

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Residential self-selection has gained increasing attention in the Western travel behavior research during the past decade. Many studies in the US, UK, and Germany conclude that the role of individuals’ residential location choice on commute travel behavior is more important than that of the built environment or at least it has considerable effects. However the effectiveness of location choice in many countries and cultures like Iran is unclear. This study examines the self-selections in two neighborhoods in Tehran. As a part of a research about the influences of land use on travel behavior information about people’s location preferences was collected by direct questioning. The findings show that the main reasons for selecting the location of residential units are related to socio-economic factors such as rise of house price and affordability of house prices. Transportation has little impacts on location decisions. Moreover, residential self-selection accounts for only 3 to 7.5 percent of the pedestrian, PT, and car trips.

Keywords: Residential self-selection, Tehran, travel behavior, urban transportation.

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Authors: K´evin Fernagut, Olivier Flauzac, Erick M. Gallegos R, Florent Nolot

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The adoption of modern lightweight virtualization often comes with new threats and network vulnerabilities. This paper seeks to assess this with a different approach studying the behavior of a testbed built with tools such as Kernel-based Virtual Machine (KVM), LinuX Containers (LXC) and Docker, by performing stress tests within a platform where students experiment simultaneously with cyber-attacks, and thus observe the impact on the campus network and also find the best solution for cyber-security learning. Interesting outcomes can be found in the literature comparing these technologies. It is, however, difficult to find results of the effects on the global network where experiments are carried out. Our work shows that other physical hosts and the faculty network were impacted while performing these trials. The problems found are discussed, as well as security solutions and the adoption of new network policies.

Keywords: Containerization, containers, cyber-security, cyber-attacks, isolation, performance, security, virtualization, virtual machines.

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Authors: B. Tondu, N. Bardou

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In its attempt to offer new ways into autonomy for a large population of disabled people, assistive technology has largely been inspired by robotics engineering. Recent human-like robots carry new hopes that it seems to us necessary to analyze by means of a specific theory of anthropomorphism. We propose to distinguish a functional anthropomorphism which is the one of actual wheelchairs from a structural anthropomorphism based on a mimicking of human physiological systems. If functional anthropomorphism offers the main advantage of eliminating the physiological systems interdependence issue, the highly link between the robot for disabled people and their human-built environment would lead to privilege in the future the anthropomorphic structural way. In this future framework, we highlight a general interdependence principle : any partial or local structural anthropomorphism generates new anthropomorphic needs due to the physiological systems interdependency, whose effects can be evaluated by means of specific anthropomorphic criterions derived from a set theory-based approach of physiological systems.

Keywords: Anthropomorphism, Human-like machines, Systemstheory, Disability.

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Authors: Delphine Mukaneza, Lin Qiao, Wang Pengxin, Li Yan, Chen Yingyi

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Human activities on land use make the land-cover gradually change or transit. In this study, we examined the use of Landsat TM data to detect the land use change of Kigali between 1987 and 2009 using remote sensing techniques and analysis of data using ENVI and ArcGIS, a GIS software. Six different categories of land use were distinguished: bare soil, built up land, wetland, water, vegetation, and others. With remote sensing techniques, we analyzed land use data in 1987, 1999 and 2009, changed areas were found and a dynamic situation of land use in Kigali city was found during the 22 years studied. According to relevant Landsat data, the research focused on land use change in accordance with the role of remote sensing in the process of urbanization. The result of the work has shown the rapid increase of built up land between 1987 and 1999 and a big decrease of vegetation caused by the rebuild of the city after the 1994 genocide, while in the period of 1999 to 2009 there was a reduction in built up land and vegetation, after the authority of Kigali city established, a Master Plan where all constructions which were not in the range of the master Plan were destroyed. Rwanda's capital, Kigali City, through the expansion of the urban area, it is increasing the internal employment rate and attracts business investors and the service sector to improve their economy, which will increase the population growth and provide a better life. The overall planning of the city of Kigali considers the environment, land use, infrastructure, cultural and socio-economic factors, the economic development and population forecast, urban development, and constraints specification. To achieve the above purpose, the Government has set for the overall planning of city Kigali, different stages of the detailed description of the design, strategy and action plan that would guide Kigali planners and members of the public in the future to have more detailed regional plans and practical measures. Thus, land use change is significantly the performance of Kigali active human area, which plays an important role for the country to take certain decisions. Another area to take into account is the natural situation of Kigali city. Agriculture in the region does not occupy a dominant position, and with the population growth and socio-economic development, the construction area will gradually rise and speed up the process of urbanization. Thus, as a developing country, Rwanda's population continues to grow and there is low rate of utilization of land, where urbanization remains low. As mentioned earlier, the 1994 genocide massacres, population growth and urbanization processes, have been the factors driving the dramatic changes in land use. The focus on further research would be on analysis of Rwanda’s natural resources, social and economic factors that could be, the driving force of land use change.

Keywords: Land use change, urbanization, Kigali City, Landsat.

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Authors: N. Z. Azlan, H. Yamaura

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This paper presents the Function Approximation Technique (FAT) based adaptive impedance control for a robotic finger. The force based impedance control is developed so that the robotic finger tracks the desired force while following the reference position trajectory, under unknown environment position and uncertainties in finger parameters. The control strategy is divided into two phases, which are the free and contact phases. Force error feedback is utilized in updating the uncertain environment position during contact phase. Computer simulations results are presented to demonstrate the effectiveness of the proposed technique.

Keywords: Adaptive impedance control, force based impedance control, force control, Function Approximation Technique (FAT), unknown environment position.

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