Abstract: Nowadays, efficiency, effectiveness and economy are regarded as the main objectives of managers and the secret of the continuity of an organization in competing economy. In such competing settings, it is essential that the management of an organization has not been neglected and been obliged to identify quickly the opportunities for improving the operation of organization and remove the shortcomings of their managed system in order to use the opportunities for development. Operational auditing is a useful tool for system adjustment and leading an organization toward its objectives. Operational auditing is indeed a viewpoint which identifies the causes of insufficiencies, weaknesses and deficiencies of system and plans to eliminate them. Operational auditing is useful in the effectiveness and optimization of executive managers- decisions and increasing the efficiency and economy of their performance in the future and prevents the waste and incorrect use of resources. Evidence shows that operational auditing is used at a limited level in Iran. This matter raises some questions like the following ones in the minds. Why do a limited number of corporations use operational auditing? Which factors can guarantee its full implementation? What obstacles are there in its implementation? The purpose of this article is to determine executive objectives, the operation domain of operational auditing, the components of operational auditing and the executive obstacles to operational auditing in Iran.
Abstract: A robot simulator was developed to measure and
investigate the performance of a robot navigation system based on
the relative position of the robot with respect to random obstacles in
any two dimensional environment. The presented simulator focuses
on investigating the ability of a fuzzy-neural system for object
avoidance. A navigation algorithm is proposed and used to allow
random navigation of a robot among obstacles when the robot faces
an obstacle in the environment. The main features of this simulator
can be used for evaluating the performance of any system that can
provide the position of the robot with respect to obstacles in the
environment. This allows a robot developer to investigate and
analyze the performance of a robot without implementing the
physical robot.
Abstract: The introduction of mass-customization has enabled
new ways to treat patients within medicine. However, the
introduction of industrialized treatments has also meant new
obstacles. The purpose of this study was to introduce and
theoretically test a method for improving dental crown fit. The
optimization method allocates support points in order to check the
final variation for dental crowns. Three different types of geometries
were tested and compared. The three geometries were also divided
into three sub-geometries: Current method, Optimized method and
Feasible method. The Optimized method, using the whole surface for
support points, provided the best results. The results support the
objective of the study. It also seems that the support optimization
method can dramatically improve the robustness of dental crown
treatments.
Abstract: This research paper designs a unique motion planner
of multiple platoons of nonholonomic car-like robots as a feasible
solution to the lane changing/merging maneuvers. The decentralized
planner with a leaderless approach and a path-guidance principle
derived from the Lyapunov-based control scheme generates collision
free avoidance and safe merging maneuvers from multiple lanes to a
single lane by deploying a split/merge strategy. The fixed obstacles
are the markings and boundaries of the road lanes, while the moving
obstacles are the robots themselves. Real and virtual road lane
markings and the boundaries of road lanes are incorporated into a
workspace to achieve the desired formation and configuration of the
robots. Convergence of the robots to goal configurations and the
repulsion of the robots from specified obstacles are achieved by
suitable attractive and repulsive potential field functions,
respectively. The results can be viewed as a significant contribution
to the avoidance algorithm of the intelligent vehicle systems (IVS).
Computer simulations highlight the effectiveness of the split/merge
strategy and the acceleration-based controllers.
Abstract: In this paper, we study the formation control problem
for car-like mobile robots. A team of nonholonomic mobile robots navigate in a terrain with obstacles, while maintaining a desired
formation, using a leader-following strategy. A set of artificial potential field functions is proposed using the direct Lyapunov
method for the avoidance of obstacles and attraction to their designated targets. The effectiveness of the proposed control laws to verify the feasibility of the model is demonstrated through computer simulations
Abstract: In this work a software simulation model has been
proposed for two driven wheels mobile robot path planning; that can
navigate in dynamic environment with static distributed obstacles.
The work involves utilizing Bezier curve method in a proposed N
order matrix form; for engineering the mobile robot path. The Bezier
curve drawbacks in this field have been diagnosed. Two directions:
Up and Right function has been proposed; Probability Recursive
Function (PRF) to overcome those drawbacks.
PRF functionality has been developed through a proposed;
obstacle detection function, optimization function which has the
capability of prediction the optimum path without comparison
between all feasible paths, and N order Bezier curve function that
ensures the drawing of the obtained path.
The simulation results that have been taken showed; the mobile
robot travels successfully from starting point and reaching its goal
point. All obstacles that are located in its way have been avoided.
This navigation is being done successfully using the proposed PRF
techniques.
Abstract: Practicum placements are an critical factor for student teachers on Education Programs. How can student teachers become professionals? This study was to investigate problems, weakness and obstacles of practicum placements and develop guidelines for partnership in the practicum placements. In response to this issue, a partnership concept was implemented for developing student teachers into professionals. Data were collected through questionnaires on attitude toward problems, weaknesses, and obstacles of practicum placements of student teachers in Rajabhat universities and included focus group interviews. The research revealed that learning management, classroom management, curriculum, assessment and evaluation, classroom action research, and teacher demeanor are the important factors affecting the professional development of Education Program student teachers. Learning management plan and classroom management concerning instructional design, teaching technique, instructional media, and student behavior management are another important aspects influencing the professional development for student teachers.
Abstract: This paper describes reactive neural control used to
generate phototaxis and obstacle avoidance behavior of walking
machines. It utilizes discrete-time neurodynamics and consists of
two main neural modules: neural preprocessing and modular neural
control. The neural preprocessing network acts as a sensory fusion
unit. It filters sensory noise and shapes sensory data to drive the
corresponding reactive behavior. On the other hand, modular neural
control based on a central pattern generator is applied for locomotion
of walking machines. It coordinates leg movements and can generate
omnidirectional walking. As a result, through a sensorimotor loop this
reactive neural controller enables the machines to explore a dynamic
environment by avoiding obstacles, turn toward a light source, and
then stop near to it.
Abstract: The aspiration of this research article is to target and
focus the gains of university-Industry (U-I) collaborations and
exploring those hurdles which are the obstacles for attaining these
gains. University-Industry collaborations have attained great
importance since 1980 in USA due to its application in all fields of
life. U-I collaboration is a bilateral process where academia is a
proactive member to make such alliances. Universities want to
ameliorate their academic-base with the technicalities of technobabbles.
U-I collaboration is becoming an essential lane for achieving
innovative goals in this century. Many developed nations have set
successful examples to prove this phenomenon as a catalyst to reduce
costs, efforts and personnel for R&D projects. This study is exploits
amplitudes of UI collaboration incentives in the light of success
stories of developed countries. Many universities in USA, UK,
Canada and various European Countries have been engaged with
enterprises for numerous collaborative agreements. A long list of
strategic and short term R&D projects has been executed in
developed countries to accomplish their intended purposes. Due to
the lack of intentions, genuine research and research-oriented
environment, the mentioned field could not grow very well in
developing countries. During last decade, a new wave of research
has induced the institutes of developing countries to promote R&D
culture especially in Pakistan. Higher Education Commission (HEC)
has initiated many projects and funding supports for universities
which have collaborative intentions with industry.
Findings show that rapid innovation, overwhelm the technological
complexities and articulated intellectual-base are major incentives
which steer both partners to establish faculty-industry alliances. Everchanging
technologies, concerned about intellectual property,
different research environment and culture, research relevancy (Basic
or applied), exposure differences and diversity of knowledge
(bookish or practical) are main barriers to establish and retain joint
ventures. Findings also concluded that, it is dire need to support and
enhance cooperation among academia and industry to promote highly
coordinated research behaviors. Author has proposed a roadmap for
developing countries to promote R&D clusters among faculty and
industry to deal the technological challenges and innovation
complexities. Based on our research findings, Model for R&D
Collaboration for developing countries also have been proposed to
promote articulated R&D environment. If developing countries
follow this phenomenon, rapid innovations can be achieved with
limited R&D budget heads.
Abstract: Importance of strategic planning is unquestionable. However, the practical implementation of a strategic plan faces too many obstacles. The aim of the article is explained the importance of strategic planning and to find how companies in Moravian-Silesian Region deal with strategic planning, and to introduce the model, which helps to set strategic goals in financial indicators area. This model should be part of the whole process of strategic planning and can be use to predict the future values of financial indicators of the company with regard to the factor, which influence these indicators.
Abstract: In this work a visual and reactive contour following
behaviour is learned by reinforcement. With artificial vision the
environment is perceived in 3D, and it is possible to avoid obstacles
that are invisible to other sensors that are more common in mobile
robotics. Reinforcement learning reduces the need for intervention in
behaviour design, and simplifies its adjustment to the environment,
the robot and the task. In order to facilitate its generalisation to other
behaviours and to reduce the role of the designer, we propose a
regular image-based codification of states. Even though this is much
more difficult, our implementation converges and is robust. Results
are presented with a Pioneer 2 AT on a Gazebo 3D simulator.
Abstract: This communication is intended to provide some issues for thought on the importance of implementation of Blended Learning in traditional universities, particularly in the Spanish university system. In this respect, we believe that virtual environments are likely to meet some of the needs raised by the Bologna agreement, trying to maintain the quality of teaching and at the same time taking advantage of the functionalities that virtual learning platforms offer. We are aware that an approach of learning from an open and constructivist nature in universities is a complex process that faces significant technological, administrative and human barriers. Therefore, in order to put plans in our universities, it is necessary to analyze the state of the art of some indicators relating to the use of ICT, with special attention to virtual teaching and learning, so that we can identify the main obstacles and design adaptive strategies for their full integration in the education system. Finally, we present major initiatives launched in the European and state framework for the effective implementation of new virtual environments in the area of higher education.
Abstract: This paper presents a review on vision aided systems
and proposes an approach for visual rehabilitation using stereo vision
technology. The proposed system utilizes stereo vision, image
processing methodology and a sonification procedure to support
blind navigation. The developed system includes a wearable
computer, stereo cameras as vision sensor and stereo earphones, all
moulded in a helmet. The image of the scene infront of visually
handicapped is captured by the vision sensors. The captured images
are processed to enhance the important features in the scene in front,
for navigation assistance. The image processing is designed as model
of human vision by identifying the obstacles and their depth
information. The processed image is mapped on to musical stereo
sound for the blind-s understanding of the scene infront. The
developed method has been tested in the indoor and outdoor
environments and the proposed image processing methodology is
found to be effective for object identification.
Abstract: Nanostructured materials have attracted many
researchers due to their outstanding mechanical and physical
properties. For example, carbon nanotubes (CNTs) or carbon
nanofibres (CNFs) are considered to be attractive reinforcement
materials for light weight and high strength metal matrix composites.
These composites are being projected for use in structural
applications for their high specific strength as well as functional
materials for their exciting thermal and electrical characteristics. The
critical issues of CNT-reinforced MMCs include processing
techniques, nanotube dispersion, interface, strengthening mechanisms
and mechanical properties. One of the major obstacles to the effective
use of carbon nanotubes as reinforcements in metal matrix
composites is their agglomeration and poor distribution/dispersion
within the metallic matrix. In order to tap into the advantages of the
properties of CNTs (or CNFs) in composites, the high dispersion of
CNTs (or CNFs) and strong interfacial bonding are the key issues
which are still challenging. Processing techniques used for synthesis
of the composites have been studied with an objective to achieve
homogeneous distribution of carbon nanotubes in the matrix.
Modified mechanical alloying (ball milling) techniques have emerged
as promising routes for the fabrication of carbon nanotube (CNT)
reinforced metal matrix composites. In order to obtain a
homogeneous product, good control of the milling process, in
particular control of the ball movement, is essential. The control of
the ball motion during the milling leads to a reduction in grinding
energy and a more homogeneous product. Also, the critical inner
diameter of the milling container at a particular rotational speed can
be calculated. In the present work, we use conventional and modified
mechanical alloying to generate a homogenous distribution of 2 wt.
% CNT within Al powders. 99% purity Aluminium powder (Acros,
200mesh) was used along with two different types of multiwall
carbon nanotube (MWCNTs) having different aspect ratios to
produce Al-CNT composites. The composite powders were processed
into bulk material by compaction, and sintering using a cylindrical
compaction and tube furnace. Field Emission Scanning electron
microscopy (FESEM), X-Ray diffraction (XRD), Raman
spectroscopy and Vickers macro hardness tester were used to
evaluate CNT dispersion, powder morphology, CNT damage, phase
analysis, mechanical properties and crystal size determination.
Despite the success of ball milling in dispersing CNTs in Al powder,
it is often accompanied with considerable strain hardening of the Al
powder, which may have implications on the final properties of the
composite. The results show that particle size and morphology vary
with milling time. Also, by using the mixing process and sonication
before mechanical alloying and modified ball mill, dispersion of the
CNTs in Al matrix improves.
Abstract: This paper is concerned with the application of the vision control algorithm for robot's point placement task in discontinuous trajectory caused by obstacle. The presented vision control algorithm consists of four models, which are the robot kinematic model, vision system model, parameters estimation model, and robot joint angle estimation model.When the robot moves toward a target along discontinuous trajectory, several types of obstacles appear in two obstacle regions. Then, this study is to investigate how these changes will affect the presented vision control algorithm.Thus, the practicality of the vision control algorithm is demonstrated experimentally by performing the robot's point placement task in discontinuous trajectory by obstacle.
Abstract: Wheel-running type moving robot has the restriction
on the moving range caused by obstacles or stairs. Solving this
weakness, we studied the development of moving robot using airship.
Our airship robot moves by recognizing arrow marks on the path. To
have the airship robot recognize arrow marks, we used edge-based
template matching. To control propeller units, we used PID and PD
controller. The results of experiments demonstrated that the airship
robot can move along the marks and can go up and down the stairs. It is
shown the possibility that airship robot can become a robot which can
move at wide range facilities.
Abstract: In this article a bibliography research takes place to
track down and introduce the barriers and opportunities for the
adoption of e-Governance services mainly from the side of citizen,
that is to say, the demand side. Although governments invest
continuously in producing of e-Governance services, citizens face
difficulties to adopt these services. Barriers derive and prevent them
from using e-Governance services. Barrier is anything preventing
citizens from the adoption of e-Governance services. Barriers impede
or do not allow the adoption of e-Governance services by the
citizens. If the barriers are pinpointed, it will be possible to take them
into consideration while designing e-Governance services which the
citizens are likely to use, if the obstacles are raised. The barriers will
thus be converted in opportunities that will facilitate the adoption.
Abstract: This paper provides a new approach to solve the motion planning problems of flying robots in uncertain 3D dynamic environments. The robots controlled by this method can adaptively choose the fast way to avoid collision without information about the shapes and trajectories of obstacles. Based on sphere coordinates the new method accomplishes collision avoidance of flying robots without any other auxiliary positioning systems. The Self-protection System gives robots self-protection abilities to work in uncertain 3D dynamic environments. Simulations illustrate the validity of the proposed method.
Abstract: This paper presents a novel algorithm for path planning of mobile robots in known 3D environments using Binary Integer Programming (BIP). In this approach the problem of path planning is formulated as a BIP with variables taken from 3D Delaunay Triangulation of the Free Configuration Space and solved to obtain an optimal channel made of connected tetrahedrons. The 3D channel is then partitioned into convex fragments which are used to build safe and short paths within from Start to Goal. The algorithm is simple, complete, does not suffer from local minima, and is applicable to different workspaces with convex and concave polyhedral obstacles. The noticeable feature of this algorithm is that it is simply extendable to n-D Configuration spaces.
Abstract: Finding the shortest path between two positions is a
fundamental problem in transportation, routing, and communications
applications. In robot motion planning, the robot should pass around
the obstacles touching none of them, i.e. the goal is to find a
collision-free path from a starting to a target position. This task has
many specific formulations depending on the shape of obstacles,
allowable directions of movements, knowledge of the scene, etc.
Research of path planning has yielded many fundamentally different
approaches to its solution, mainly based on various decomposition
and roadmap methods. In this paper, we show a possible use of
visibility graphs in point-to-point motion planning in the Euclidean
plane and an alternative approach using Voronoi diagrams that
decreases the probability of collisions with obstacles. The second
application area, investigated here, is focused on problems of finding
minimal networks connecting a set of given points in the plane using
either only straight connections between pairs of points (minimum
spanning tree) or allowing the addition of auxiliary points to the set
to obtain shorter spanning networks (minimum Steiner tree).