Search results for: collision norms

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

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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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Authors: A. N. Dagang, E. I. Ismail, Z. Zakaria

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This paper presents the analysis on the performance of monopole antenna with fluorescent tubes. In this research, the simulation and experimental approach is conducted. The fluorescent tube with different length and size is designed using Computer Simulation Technology (CST) software and the characteristics of antenna parameter are simulated throughout the software. CST was used to simulate antenna parameters such as return loss, resonant frequency, gain and directivity. Vector Network Analyzer (VNA) was used to measure the return loss of plasma antenna in order to validate the simulation results. In the simulation and experiment, the supply frequency is set starting from 1 GHz to 10 GHz. The results show that the return loss of plasma antenna changes when size of fluorescent tubes is varied, correspond to the different plasma properties. It shows that different values of plasma properties such as plasma frequency and collision frequency gives difference result of return loss, gain and directivity. For the gain, the values range from 2.14 dB to 2.36 dB. The return loss of plasma antenna offers higher value range from -22.187 dB to -32.903 dB. The higher the values of plasma frequency and collision frequency, the higher return loss can be obtained. The values obtained are comparative to the conventional type of metal antenna.

Keywords: Plasma antenna, fluorescent tube, computer simulation technology, plasma parameters.

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Authors: D. Sufi Ahmadi, B. Bagheri

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Thermal water hammer is a special type of water hammer which rarely occurs in heat exchangers. In biphasic fluids, if steam bubbles are surrounded by condensate, regarding lower condensate temperature than steam, they will suddenly collapse. As a result, the vacuum caused by an extreme change in volume lead to movement of the condensates in all directions and their collision the force produced by this collision leads to a severe stress in the pipe wall. This phenomenon is a special type of water hammer. According to fluid mechanics, this phenomenon is a particular type of transient flows during which abrupt change of fluid leads to sudden pressure change inside the tube. In this paper, the mechanism of abrupt failure of 80 tubes of 481 tubes of a methanol heat exchanger is discussed. Initially, due to excessive temperature differences between heat transfer fluids and simultaneous failure of 80 tubes, thermal shock was presupposed as the reason of failure. Deeper investigation on cross-section of failed tubes showed that failure was, ductile type of failure, so the first hypothesis was rejected. Further analysis and more accurate experiments revealed that failure of tubes caused by thermal water hammer. Finally, the causes of thermal water hammer and various solutions to avoid such mechanism are discussed.

Keywords: Thermal water hammer, Brittle Failure, Condensate thermal shock

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Authors: M. Hamad Hassan, S.A.M. Gilani

Abstract:

In this paper, a novel scheme is proposed for Ownership Identification and Color Image Authentication by deploying Cryptography & Digital Watermarking. The color image is first transformed from RGB to YST color space exclusively designed for watermarking. Followed by color space transformation, each channel is divided into 4×4 non-overlapping blocks with selection of central 2×2 sub-blocks. Depending upon the channel selected two to three LSBs of each central 2×2 sub-block are set to zero to hold the ownership, authentication and recovery information. The size & position of sub-block is important for correct localization, enhanced security & fast computation. As YS ÔèÑ T so it is suitable to embed the recovery information apart from the ownership and authentication information, therefore 4×4 block of T channel along with ownership information is then deployed by SHA160 to compute the content based hash that is unique and invulnerable to birthday attack or hash collision instead of using MD5 that may raise the condition i.e. H(m)=H(m'). For recovery, intensity mean of 4x4 block of each channel is computed and encoded upto eight bits. For watermark embedding, key based mapping of blocks is performed using 2DTorus Automorphism. Our scheme is oblivious, generates highly imperceptible images with correct localization of tampering within reasonable time and has the ability to recover the original work with probability of near one.

Keywords: Hash Collision, LSB, MD5, PSNR, SHA160

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Authors: Zhanna Mingaleva, Irina Mirskikh

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Part IV of the Civil Code of the Russian Federation dedicated to legal regulation of Intellectual property rights came into force in 2008. It is a first attempt of codification in Intellectual property sphere in Russia. That is why a lot of new norms appeared. The main problem of the Russian Civil Code (part IV) is that many rules (norms of Law) contradict the norms of International Intellectual property Law (i.e. protection of inventions, creations, ideas, know-how, trade secrets, innovations). Intellectual property rights protect innovations and creations and reward innovative and creative activity. Intellectual property rights are international in character and in that respect they fit in rather well with the economic reality of the global economy. Inventors prefer not to take out a patent for inventions because it is a very difficult procedure, it takes a lot of time and is very expensive. That-s why they try to protect their inventions as ideas, know-how, confidential information. An idea is the main element of any object of Intellectual property (creation, invention, innovation, know-how, etc.). But ideas are not protected by Civil Code of Russian Federation. The aim of the paper is to reveal the main problems of legal regulation of Intellectual property in Russia and to suggest possible solutions. The authors of this paper have raised these essential issues through different activities. Through the panel survey, questionnaires which were spread among the participants of intellectual activities the main problems of implementation of innovations, protecting of the ideas and know-how were identified. The implementation of research results will help to solve economic and legal problems of innovations, transfer of innovations and intellectual property.1

Keywords: Innovation activities, intellectual property rights, know-how, patents, indicators of innovation activities

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Authors: M. Karassartova, D. Shormanbayeva, A. Beissenova, S.Balshikeyev

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Forming a legal culture among citizens is a complicated and lengthy process, influencing all spheres of social life. It includes promoting justice, learning rights and duties, the introduction of juridical norms and knowledge, and also a process of developing a system of legal acts and constitutional norms. Currently, the evaluative and emotional influence of attempts to establish a legal culture among the citizens of Kazakhstan is limited by real legal practice. As a result, the values essential to a sound civil society are absent from the consciousness of the Kazakh people who are thus, in turn, not able to develop respect for these values. One of the disadvantages of the modern Kazakh educational system is a tendency to underrate the actual forces shaping the worldview of Kazakh youths. The mass-media, which are going through a personnel crisis, cannot provide society with the legal and political information necessary to form the sort of legal culture required for a true civil society.

Keywords: Kazakhstan society, Legal education, legal culture.

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Authors: Yi-Feng Su, Chia-Tseng Chen, Hsueh-Lung Liao

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The objective of this research is to develop an advanced driver assistance system characterized with the functions of lane departure warning (LDW), forward collision warning (FCW) and adaptive front-lighting system (AFS). The system is mainly configured a CCD/CMOS camera to acquire the images of roadway ahead in association with the analysis made by an image-processing unit concerning the lane ahead and the preceding vehicles. The input image captured by a camera is used to recognize the lane and the preceding vehicle positions by image detection and DROI (Dynamic Range of Interesting) algorithms. Therefore, the system is able to issue real-time auditory and visual outputs of warning when a driver is departing the lane or driving too close to approach the preceding vehicle unwittingly so that the danger could be prevented from occurring. During the nighttime, in addition to the foregoing warning functions, the system is able to control the bending light of headlamp to provide an immediate light illumination when making a turn at a curved lane and adjust the level automatically to reduce the lighting interference against the oncoming vehicles driving in the opposite direction by the curvature of lane and the vanishing point estimations. The experimental results show that the integrated vehicle image system is robust to most environments such as the lane detection and preceding vehicle detection average accuracy performances are both above 90 %.

Keywords: Lane mark detection, lane departure warning (LDW), dynamic range of interesting (DROI), forward collision warning (FCW), adaptive front-lighting system (AFS).

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Authors: Kawpong Polyorat, Nathamon Buaprommee

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Because of the outbreak of mad cow disease and bird flu, consumers have become more concerned with quality and safety of meat and poultry. As a consequence, meat traceability has been implemented as a tool to raise the standard in the meat production industry. In Thailand, while traceability is relatively common among the manufacturer-wholesaler-retailers cycle, it is rarely used as a marketing tool specifically designed to persuade consumers who are the actual meat endusers. Therefore, the present study attempts to understand what influences consumers to spread their words-of-mouth (WOM) regarding meat with traceability by conducting a study in Thailand where research in this area is rather scant. Data were collected from one hundred and sixty-seven consumers in the northeastern region and analyzed with SEM. The study results reveal that perceived usefulness of traceability system, social norms, and product class knowledge are significant antecedents where consumers spread positive words regarding meat with traceability system. A number of theoretical and managerial implications as well as future study directions are offered at the end of this study report.

Keywords: Perceived usefulness, product knowledge, social norms, traceability, word-of-mouth,

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Authors: Anthony Wachs, Guillaume Vinay, Gilles Ferrer, Jacques Kouakou, Calin Dan, Laurence Girolami

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An original Direct Numerical Simulation (DNS) method to tackle the problem of particulate flows at moderate to high concentration and finite Reynolds number is presented. Our method is built on the framework established by Glowinski and his coworkers [1] in the sense that we use their Distributed Lagrange Multiplier/Fictitious Domain (DLM/FD) formulation and their operator-splitting idea but differs in the treatment of particle collisions. The novelty of our contribution relies on replacing the simple artificial repulsive force based collision model usually employed in the literature by an efficient Discrete Element Method (DEM) granular solver. The use of our DEM solver enables us to consider particles of arbitrary shape (at least convex) and to account for actual contacts, in the sense that particles actually touch each other, in contrast with the simple repulsive force based collision model. We recently upgraded our serial code, GRIFF 1 [2], to full MPI capabilities. Our new code, PeliGRIFF 2, is developed under the framework of the full MPI open source platform PELICANS [3]. The new MPI capabilities of PeliGRIFF open new perspectives in the study of particulate flows and significantly increase the number of particles that can be considered in a full DNS approach: O(100000) in 2D and O(10000) in 3D. Results on the 2D/3D sedimentation/fluidization of isometric polygonal/polyedral particles with collisions are presented.

Keywords: Particulate flow, distributed lagrange multiplier/fictitious domain method, discrete element method, polygonal shape, sedimentation, distributed computing, MPI

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Authors: Robin C. Ladwig

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Work experiences and satisfaction as well as the feeling of belonging has been narrowly explored from the perspective of trans and gender diverse individuals. Hence, the study investigates the relationship of values, attitudes, and norms of occupational environments and the working identity of trans and gender diverse people of the Australian workforce. Based on 22 semi-structured interviews with trans and gender diverse individuals regarding their work and career experiences, a first insight about their feeling of belonging through commonality in the workplace could be established. Communality between the values, attitudes and norms of a trans and gender diverse individuals working identities and profession, organization and working environment could increase the feeling of belonging. Further reflection and evaluation of trans and gender diverse identities in the workplace need to be considered to create an equitable and inclusive workplace of the future. Consequently, an essential development step for the future of work and its fundamental values of diversity, inclusion, and belonging will consist of the acknowledgement and inclusion of trans and gender diverse people as part of a broader social identity of the workplace.

Keywords: Belonging, future of work, working identity, trans and gender diverse identity.

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Authors: J. Bertrandt, A. Kłos, R. Waszkowski, T. Nowicki, R. Pytlak, E. Stęzycka, A. Gazdzinska

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 The aim of the work was estimation of copper intake with the daily food rations used for alimentation of students of military high schools and soldiers doing compulsory military service in the Polish Army. An average planned copper content in daily food rations used for alimentation of students and soldiers amounted to 2.49±0.35 mg, and 2.44±0.25 mg respectively. The copper content in the daily food ration given for consumption to students amounted from 1.81±0.14 mg to 2.58±0.44 mg while daily food rations served to soldiers delivered from 2.06±0.45 mg to 2.13±0.33 mg. The copper content in the rations planned for students and soldiers alimentation was within the limits of the norms obligatory in Poland. Daily food rations given for consumption, except rations served for students, were within the limits of the recommended norms, but food rations really eaten by examined men didn’t cover the requirements for copper.

Keywords: Copper, daily food ration, military service.

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Authors: Fiasal Assiri, Joanna Wincenciak, David Morrison-Love

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With the rapid spread of the COVID-19 pandemic, the Saudi government suspended students from going to school to combat the outbreak. As e-learning was not applied at all in schools, online teaching and learning have been revived in Saudi Arabia by providing a new platform called ‘Madrasati’. The Decomposed Theory of Planned Behaviour (DTPB) is used to examine individuals’ intention behaviour in many fields. Nevertheless, the factors that affect teachers’ continuance intention of the Madrasati platform have not yet been investigated. The purpose of this paper is to present a conceptual model in light with DTPB. To enhance the predictability of the model, the study incorporates other variables including learning content quality and interactivity as sub-factors under the perceived usefulness, students and government influences under the subjective norms, and technical support and prior e-learning experience under the perceived behavioural control. The model will be further validated using a mixed methods approach. Such findings would help administrators and stakeholders to understand teachers’ needs and develop new methods that might encourage teachers to continue using Madrasati effectively in their teaching.

Keywords: Madrasati, Decomposed Theory of Planned Behaviour, continuance intention, attitude, subjective norms, perceived behavioural control.

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Authors: Hisham Mortada

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Transition in the urban configuration of Arab cities has never been as radical and visible as it has been since the turn of the last century. The emergence of new cities near historical settlements of Arabia has spawned a series of developments in and around the old city precincts. New developments are based on advanced technology and conform to globally prevalent standards of city planning, superseding the vernacular arrangements based on traditional norms that guided so-called ‘city planning’. Evidence to this fact are the extant Arab buildings present at the urban core of modern cities, which inform us about intricate spatial organization. Organization that subscribed to multiple norms such as, satisfying gender segregation and socialization, economic sustainability, and ensuring security and environmental coherence etc., within settlement compounds. Several participating factors achieved harmony in such an inclusive city—an organization that was challenged and apparently replaced by the new planning order in the face of growing needs of globalized, economy-centric and high-tech models of development. Communities found it difficult to acclimatize with the new western planning models that were implemented at a very large scale throughout the Kingdom, which later experienced spatial re-structuring to suit users’ needs. A closer look the ancient city of Yanbu, now flanked with such new developments, allows us to differentiate and track the beginnings of this unprecedented transition in settlement formations. This paper aims to elaborate the Arabian context offered to both the ‘traditional’ and ‘modern’ planning approaches, in order to understand challenges and solutions offered by both at different times. In the process it will also establish the inconsistencies and conflicts that arose with the shift in planning paradigm, from traditional-'cultural norms’, to modern-'physical planning', in the Arabian context. Thus, by distinguishing the two divergent planning philosophies, their impact of the Arabian morphology, relevance to lifestyle and suitability to the biophysical environment, it concludes with a perspective on sustainability particularly for in case of Yanbu.

Keywords: Yanbu, traditional architecture, Hijaz, coral building, Saudi Arabia.

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Authors: Adnan Muharemovic, Hidajet Salkic, Mario Klaric, Irfan Turkovic, Aida Muharemovic

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In nature, electromagnetic fields always appear like atmosphere static electric field, the earth's static magnetic field and the wide-rang frequency electromagnetic field caused by lightening. However, besides natural electromagnetic fields (EMF), today human beings are mostly exposed to artificial electromagnetic fields due to technology progress and outspread use of electrical devices. To evaluate nuisance of EMF, it is necessary to know field intensity for every frequency which appears and compare it with allowed values. Low frequency EMF-s around transmission and distribution lines are time-varying quasi-static electromagnetic fields which have conservative component of low frequency electrical field caused by charges and eddy component of low frequency magnetic field caused by currents. Displacement current or field delay are negligible, so energy flow in quasi-static EMF involves diffusion, analog like heat transfer. Electrical and magnetic field can be analyzed separately. This paper analysis the numerical calculations in ELF-400 software of EMF in distribution substation in shopping center. Analyzing the results it is possible to specify locations exposed to the fields and give useful suggestion to eliminate electromagnetic effect or reduce it on acceptable level within the non-ionizing radiation norms and norms of protection from EMF.

Keywords: Electromagnetic Field, Density of Electromagnetic Flow, Place of Proffesional Exposure, Place of Increased Sensitivity

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Authors: M. Imran Akram, Ahmed Pasha, Nabeel Iqbal

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In this paper a real-time trajectory generation algorithm for computing 2-D optimal paths for autonomous aerial vehicles has been discussed. A dynamic programming approach is adopted to compute k-best paths by minimizing a cost function. Collision detection is implemented to detect intersection of the paths with obstacles. Our contribution is a novel approach to the problem of trajectory generation that is computationally efficient and offers considerable gain over existing techniques.

Keywords: dynamic programming, graph search, path planning.

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Authors: Krishna S. Raghuwaiya, Shonal Singh, Jito Vanualailai

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In this paper, the trajectory tracking problem for carlike mobile robots have been studied. The system comprises of a leader and a follower robot. The purpose is to control the follower so that the leader-s trajectory is tracked with arbitrary desired clearance to avoid inter-robot collision while navigating in a terrain with obstacles. A set of artificial potential field functions is proposed using the Direct Method of Lyapunov for the avoidance of obstacles and attraction to their designated targets. Simulation results prove the efficiency of our control technique.

Keywords: Control, Trajectory Tracking, Lyapunov.

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Authors: Mohammad Tipu Sultan, Farzana Sharmin, Ke Xue

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Social media create a better opportunity for travelers to search for travel information, select destination and share their personal experiences of the travel. This study proposes a framework which describes the relationships between social media, and positive or negative tourism experience sharing impact on destination choice. To find out new trends of travelers behavioral intention, we propose an extended theoretical model, the Theory of Reasoned Action (TRA). We conducted a survey to analyze three external factors, subjective norms, and positive and negative experience influence on travel destination choice. Structural questionnaire analysis was employed to confirm the proposed research hypothesis within the relationship between consumer influences on the shared experience of social media. The results of the study confirm that sharing positive experiences influence the positive effect of destination choice, while negative experiences decrease the destination selection option. The results indicate that attitudes, subjective norms are passively influenced by shared experience. Moreover, we find that sharing live pictures of travel experiences through social media helps to reduce negative perceptions of the destination brand. This research contribution is useable to the research field as a new determination factor and the findings could be used by destination organization management (DMO) to enhancing their tourism promotion through social media.

Keywords: Destination choice, tourism experience sharing, Theory of Reasoned Action, social media.

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Authors: Iman A. Saad, Loay E. George

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Iris pattern is an important biological feature of human body; it becomes very hot topic in both research and practical applications. In this paper, an algorithm is proposed for iris recognition and a simple, efficient and fast method is introduced to extract a set of discriminatory features using first order gradient operator applied on grayscale images. The gradient based features are robust, up to certain extents, against the variations may occur in contrast or brightness of iris image samples; the variations are mostly occur due lightening differences and camera changes. At first, the iris region is located, after that it is remapped to a rectangular area of size 360x60 pixels. Also, a new method is proposed for detecting eyelash and eyelid points; it depends on making image statistical analysis, to mark the eyelash and eyelid as a noise points. In order to cover the features localization (variation), the rectangular iris image is partitioned into N overlapped sub-images (blocks); then from each block a set of different average directional gradient densities values is calculated to be used as texture features vector. The applied gradient operators are taken along the horizontal, vertical and diagonal directions. The low order norms of gradient components were used to establish the feature vector. Euclidean distance based classifier was used as a matching metric for determining the degree of similarity between the features vector extracted from the tested iris image and template features vectors stored in the database. Experimental tests were performed using 2639 iris images from CASIA V4-Interival database, the attained recognition accuracy has reached up to 99.92%.

Keywords: Iris recognition, contrast stretching, gradient features, texture features, Euclidean metric.

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Authors: Chi-Shan Chen, Mao-Chou Hsu, Feng-Chuan Pan

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The incidence of oral cancer in Taiwan increased year by year. It replaced the nasopharyngeal as the top incurrence among head and neck cancers since 1994. Early examination and earlier identification for earlier treatment is the most effective medical treatment for these cancers. Although the government fully subsidized the expenses with tremendous promotion program for oral cancer screening, the citizen-s participation remained low. Purpose of this study is to understand the factors affecting the citizens- behavior intensions of taking an oral cancer screening. Based on the Theory of Planned Behavior, this study adopted four distinctive variables in explaining the captioned behavior intentions.700 questionnaires were dispatched with 500 valid responses or 71.4% returned by the citizens with an age 30 or above from the eastern counties of Taiwan. Test results has shown that attitude toward, subjective norms of, and perceived behavioral control over the oral cancer screening varied from some demographic factors to another. The study proofed that attitude toward, subjective norms of, and perceived behavioral control over the oral cancer screening had positive impacts on the corresponding behavior intention. The test concluded that the theory of planned behavior was appropriate as a theoretical framework in explaining the influencing factors of intentions of taking oral cancer screening. This study suggested the healthcare professional should provide high accessibility of screening services other than just delivering knowledge on oral cancer to promote the citizens- intentions of taking the captioned screening. This research also provided a practical implication to the healthcare professionals when formulating and implementing promotion instruments for lifting the screening rate of oral cancer.

Keywords: Theory of planned behavior, oral cancer, cancer screening

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Authors: Orly Sarid, Yana Shraga

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Purpose: To compare attitudes and perceptions of Israeli native born mothers versus former Soviet Union (FSU) immigrant mothers regarding the physical health of their infant. Methodology: cross-sectional design. A convenience sample of 50 participants was recruited by face to face and snowball technique. A questionnaire was constructed according to the instructions of the Ministry of Health for the care and treatment of infants. The main areas explored were: sources of knowledge that the young mother acquired regarding the care of her infant, ways of caring for the infant, hygiene and sanitary habits, and the pattern of referral to health professionals. The last topic relates to emotions mothers might experience towards their infant. Results: Mothers from both cultural groups present some similar caring behaviors, which may express a universal aspect of mothers' behavior towards their infants. However, immigrant mothers differ significantly from native born by relying less on their mothers' and grandmothers' experience, they wean their infants from diapers earlier, they are stricter about hygiene and sanitary habits and they tend to consult a physician when their infant has low fever. Native born and immigrant mothers differ in their expressions of pride and wonder. Immigrant mothers report of a lesser degree of these emotions towards their infants than native born mothers. Conclusion: The theoretical model of socialization and acculturation of immigrant mothers is employed as an explanatory model for the current findings Young immigrant mothers undergo a complex acculturation process and adapt behavioral patterns in various areas to comply with Israeli norms and values, demonstrating assimilation. In other areas they adhere to the norms of their original culture.

Keywords: Attitudes, immigrant mothers, infant, physical health

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Authors: Jafreezal Jaafar, Hasiah Mohamed, Hazida Razali

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This paper focuses on the 3D reconstruction of the architectural design of Darul Ridzuan Museum. It has concentrated on designing exterior part of the building according to colored digital photo of the real museum. Besides viewing the architecture, walkthroughs are generated for the user to control it in an easier way. User can travel through the museum to get the feel of the environment and to explore the design of the museum as a whole; both exterior and interior. The result has shown positive result in terms of realism, navigation, collision detection, suitability, usability and user-s acceptance. In brief, the 3D virtual museum has provided an alternative to present a real museum.

Keywords: Virtual Heritage, 3D Modelling, Virtual Museum, Usability Evaluation

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Authors: Andreas D. Jansson

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The availability of inexpensive, yet competent hardware allows for increased level of automation and self-optimization in the context of Industry 4.0. However, such agents require high quality information about their surroundings along with a robust strategy for collision avoidance, as they may cause expensive damage to equipment or other agents otherwise. Manually defining a strategy to cover all possibilities is both time-consuming and counter-productive given the capabilities of modern hardware. This paper explores the idea of a model-free self-optimizing obstacle avoidance strategy for multiple autonomous agents in a simulated dynamic environment using the Q-learning algorithm.

Keywords: Autonomous vehicles, industry 4.0, multi-agent system, obstacle avoidance, Q-learning, simulation.

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Authors: Min Kyung An, Hyuk Cho

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In this paper, we study the Minimum Latency Broadcast Scheduling (MLBS) problem in wireless sensor networks (WSNs). The main issue of the MLBS problem is to compute schedules with the minimum number of timeslots such that a base station can broadcast data to all other sensor nodes with no collisions. Unlike existing works that utilize the traditional omni-directional WSNs, we target the directional WSNs where nodes can collaboratively determine and orientate their antenna directions. We first develop a 7-approximation algorithm, adopting directional WSNs. Our ratio is currently the best, to the best of our knowledge. We then validate the performance of the proposed algorithm through simulation.

Keywords: Broadcast, collision-free, directional antenna, approximation, wireless sensor networks.

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Authors: Ho-Ting Wu, Min-Hua Yang, Kai-Wei Ke, Lei Yan

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The quality-of-service (QoS) support for wireless LANs has been a hot research topic during the past few years. In this paper, two QoS provisioning mechanisms are proposed for the employment in 802.11e EDCA MAC scheme. First, the proposed call admission control mechanism can not only guarantee the QoS for the higher priority existing connections but also provide the minimum reserved bandwidth for traffic flows with lower priority. In addition, the adaptive contention window adjustment mechanism can adjust the maximum and minimum contention window size dynamically according to the existing connection number of each AC. The collision probability as well as the packet delay will thus be reduced effectively. Performance results via simulations have revealed the enhanced QoS property achieved by employing these two mechanisms.

Keywords: 802.11e, admission control, contention window, EDCA

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Authors: Rabi W. Yousif, Mohd Asri Hj Mansor

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In this paper, we present a novel technique called Self-Learning Expert System (SLES). Unlike Expert System, where there is a need for an expert to impart experiences and knowledge to create the knowledge base, this technique tries to acquire the experience and knowledge automatically. To display this technique at work, a simulation of a mobile robot navigating through an environment with obstacles is employed using visual basic. The mobile robot will move through this area without colliding with any obstacle and save the path that it took. If the mobile robot has to go through a similar environment again, then it will apply this experience to help it move through quicker without having to check for collision.

Keywords: Expert system, knowledge base, mobile robot, visual basic.

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

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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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Authors: Tereza Dolečková

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Following article provides the comparison of international norms and standards formulating personal expenses, and then it illustrates the national concept of personal expenses of the Ministry of Defence. Then a new salary system of soldiers and the importance of the service appraisal in the context of personal expenses of the Ministry of Defence are explained. The first part of the article includes formulation of the approach to the definition of personal expenses within the international norms and standards and also within the Ministry of Defence of the Czech Republic. The structure of employees of the Ministry of Defence of the Czech Republic in years 2012 – 2014 and the amount of military expenses and the share of salary expenses of the Ministry of total expenses of the Ministry are clarified there, also the comparison of the amount of military expenses in chosen member states of the North Atlantic Treaty Organization is done. The salary system of professional soldiers in connection with the amendment of the Act No. 221/1999 Coll. on Professional Soldiers is clarified in the second part of this article. The amendment significantly regulates the salary items of soldiers but changes are also in the service appraisal of soldiers which reflects one of seven salary items of soldiers – the performance bonus. The aim of this article is to clarify different approach to define personal expenses with emphasis on the Ministry of Defence of the Czech Republic which overlaps to the service appraisal of soldiers of the Army of the Czech Republic and their salary system in connection with personal expenses of the Ministry of Defence of the Czech Republic. The efficient and objective system of the service appraisal and the use of its results are connected to the principles of the career advancement; only the best soldiers can advance in the system of the service careers to higher positions. That is why it is necessary to improve the service appraisal so it would provide the maximum information about the performance of a soldier and it would also motivate the soldier in his development. The attention should be paid to the service appraisal of the soldiers of the Army of the Czech Republic to achieve as much objectivity as possible.

Keywords: Career, human resource management and development, personal expenses, salary system of soldiers, service appraisal of soldiers, the Army of the Czech Republic.

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

Abstract:

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 the general3-trailer system 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. Simulations are provided to demonstrate the effectiveness of the controls laws.

Keywords: Artificial potential fields, 3-trailer systems, motion planning, posture.

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Authors: Marcelo R. G. Duarte, Marcilio Alves

Abstract:

Pedestrians are the fourth group among road traffic users that most suffer accidents. Their death rate is even higher than the motorcyclists group. This gives motivation for the development of an urban vehicle capable of complying with the United Nations Economic Commission for Europe pedestrian regulations. The conceptual vehicle is capable of transporting two passengers and small parcels for 100 km at a maximum speed of 90 km/h. This paper presents the design of this vehicle using the finite element method specially in connection with frontal crash test and car to pedestrian collision. The simulation is based in a human body FE.

Keywords: Electric urban vehicle, finite element method, global human body model, pedestrian safety, road safety.

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Authors: Nazia Khan

Abstract:

The paper explores the cultural rights accommodation by the state which has left many unresolved problems. The cultural rights sometimes violate the basic individual rights of the members inside the community like women. The paper further explicates certain cultural norms and practices which violates the rights of women inside the community in the name of culture.

Keywords: Culture, Patriarchy, Rights, Women.

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