Abstract: This paper presents an optimized algorithm for robot localization which increases the correctness and accuracy of the estimating position of mobile robot to more than 150% of the past methods [1] in the uncertain and noisy environment. In this method the odometry and vision sensors are combined by an adapted well-known discrete kalman filter [2]. This technique also decreased the computation process of the algorithm by DKF simple implementation. The experimental trial of the algorithm is performed on the robocup middle size soccer robot; the system can be used in more general environments.
Abstract: In this paper we apply an Adaptive Network-Based
Fuzzy Inference System (ANFIS) with one input, the dependent
variable with one lag, for the forecasting of four macroeconomic
variables of US economy, the Gross Domestic Product, the inflation
rate, six monthly treasury bills interest rates and unemployment rate.
We compare the forecasting performance of ANFIS with those of the
widely used linear autoregressive and nonlinear smoothing transition
autoregressive (STAR) models. The results are greatly in favour of
ANFIS indicating that is an effective tool for macroeconomic
forecasting used in academic research and in research and application
by the governmental and other institutions
Abstract: In this paper we present a Feed-Foward Neural
Networks Autoregressive (FFNN-AR) model with genetic algorithms
training optimization in order to predict the gross domestic product
growth of six countries. Specifically we propose a kind of weighted
regression, which can be used for econometric purposes, where the
initial inputs are multiplied by the neural networks final optimum
weights from input-hidden layer of the training process. The
forecasts are compared with those of the ordinary autoregressive
model and we conclude that the proposed regression-s forecasting
results outperform significant those of autoregressive model.
Moreover this technique can be used in Autoregressive-Moving
Average models, with and without exogenous inputs, as also the
training process with genetics algorithms optimization can be
replaced by the error back-propagation algorithm.
Abstract: New Zealand-s product markets experienced a surge in
import competition beginning from the late 1970-s when its
government began to promote a policy of more open markets. This
study considers how the trade liberalization aspect of the policy may
have influenced unionization and union-organizing success. For
describing the trade liberalization, a model shows how the removal of
import tariffs can lead to countervailing influences upon the union
membership of a domestic firm. The evidence supports the prediction
that union membership has been decreased rather than increased. In
the context of debates concerning globalization, it can be said that the
power of unions has been diminished.
Abstract: The development of biomimetic micro-aerial-vehicles
(MAVs) with flapping wings is the future trend in military/domestic
field. The successful flight of MAVs is strongly related to the
understanding of unsteady aerodynamic performance of low Reynolds
number airfoils under dynamic flapping motion. This study explored
the effects of flapping frequency, stroke amplitude, and the inclined
angle of stroke plane on lift force and thrust force of a bio-inspiration
corrugated airfoil with 33 full factorial design of experiment and
ANOVA analysis. Unsteady vorticity flows over a corrugated thin
airfoil executing flapping motion are computed with time-dependent
two-dimensional laminar incompressible Reynolds-averaged
Navier-Stokes equations with the conformal hybrid mesh. The tested
freestream Reynolds number based on the chord length of airfoil as
characteristic length is fixed of 103. The dynamic mesh technique is
applied to model the flapping motion of a corrugated airfoil. Instant
vorticity contours over a complete flapping cycle clearly reveals the
flow mechanisms for lift force generation are dynamic stall, rotational
circulation, and wake capture. The thrust force is produced as the
leading edge vortex shedding from the trailing edge of airfoil to form a
reverse von Karman vortex. Results also indicated that the inclined
angle is the most significant factor on both the lift force and thrust
force. There are strong interactions between tested factors which mean
an optimization study on parameters should be conducted in further
runs.
Abstract: Addis Ababa is a seat of African Union (AU), United
Nations Economic Commission for Africa (UN-ECA) and hundreds of
embassies and consular representatives. Addis Ababa is one of the
highest capitals in the world with an average 2400 meters above sea
level. It is dichotomous city with a blend of modern high-rise and
deteriorating slum quarters. Water supply and sanitation, waste
management and housing are continuing to be serious problems.
Forest wood based domestic energy use as well as uncontrolled
emissions from mobile and fixed sources has endangered the state of
the urban environment. Analysis based on satellite imagery has
revealed the deteriorating urban environment within the last three
decades. The recently restructured city administration has brought
improvements in the condition of the urban environment. However,
the overwhelming size of the challenges faced by the city dwarfed
their fairly good results.
Abstract: The number of the companies accepting RFID in Korea
has been increased continuously due to the domestic development of
information technology. The acceptance of RFID by companies in
Korea enabled them to do business with many global enterprises in a
much more efficient and effective way. According to a survey[33,
p76], many companies in Korea have used RFID for inventory or
distribution manages. But, the use of RFID in the companies in Korea
is in the early stages and its potential value hasn-t fully been realized
yet. At this time, it would be very important to investigate the factors
that affect RFID acceptance. For this study, many previous studies
were referenced and some RFID experts were interviewed. Through
the pilot test, four factors were selected - Security Trust, Employee
Knowledge, Partner Influence, Service Provider Trust - affecting
RFID acceptance and an extended technology acceptance
model(e-TAM) was presented with those factors. The proposed model
was empirically tested using data collected from employees in
companies or public enterprises. In order to analyze some
relationships between exogenous variables and four variables in TAM,
structural equation modeling(SEM) was developed and SPSS12.0 and
AMOS 7.0 were used for analyses. The results are summarized as
follows: 1) security trust perceived by employees positively
influences on perceived usefulness and perceived ease of use; 2)
employee-s knowledge on RFID positively influences on only
perceived ease of use; 3) a partner-s influence for RFID acceptance
positively influences on only perceived usefulness; 4) service provider
trust very positively influences on perceived usefulness and perceived
ease of use 5) the relationships between TAM variables are the same as
the previous studies.
Abstract: This paper presents an Extended Kaman Filter
implementation of a single-camera Visual Simultaneous Localization
and Mapping algorithm, a novel algorithm for simultaneous
localization and mapping problem widely studied in mobile robotics
field. The algorithm is vision and odometry-based, The odometry
data is incremental, and therefore it will accumulate error over time,
since the robot may slip or may be lifted, consequently if the
odometry is used alone we can not accurately estimate the robot
position, in this paper we show that a combination of odometry and
visual landmark via the extended Kalman filter can improve the robot
position estimate. We use a Pioneer II robot and motorized pan tilt
camera models to implement the algorithm.
Abstract: Energy consumption is a very important topic these
days especially regarding air conditioning in residential buildings,
since this takes the biggest amount of energy in buildings total
consumption, residential buildings constitute the biggest percentage
of energy consumption in Bahrain.
This research reflects on the effects of shading percentage in
different solar orientations on the energy consumption inside
residential buildings (domestic dwellings).
The research as found that, there are different effects of shading in
changing building orientation:
• 0.69% for the shading percentage 25% when the building is
oriented to the north (0º);
• 18.59% for 75% of shading in north-west orientation
(325º);
• The best effect for shading is in north-west orientation
(315º);
• The less effect for shading was in case of the building
orientation is the north (0º).
Abstract: This paper suggests a calibration method to reduce
errors occurring due to mobile robot sliding during location estimation
using the Dead-reckoning. Due to sliding of the mobile robot caused
between its wheels and the road surface while on free run, location
estimation can be erroneous. Sliding especially occurs during
cornering of mobile robot. Therefore, in order to reduce these frequent
sliding errors in cornering, we calibrated the mobile robot-s heading
values using a vision camera and templates of the ceiling.
Abstract: This paper analysis the integrated use of safety monitoring with the domestic and international latest research on rail safety protection system, and focus on the implementation of an organic whole system, with the monitoring and early warning, risk assessment, predictive control and emergency rescue system. The system framework, contents and system structure of Security system is proposed completely. It-s pointed out that the Security system is a negative feedback system composed of by safety monitoring and warning system, risk assessment and emergency rescue system. Safety monitoring and warning system focus on the monitoring target monitoring, early warning, tracking, integration of decision-making, for objective and subjective risks factors. Risk assessment system analysis the occurrence of a major Security risk mechanism, determines the standard of the future short, medium and long term safety conditions, and give prop for development of safety indicators, accident analysis and safety standards. Emergency rescue system is with the goal of rapid and effective rescue work for accident, to minimize casualties and property losses.
Abstract: In July 1, 2007, Taiwan Stock Exchange (TWSE) on
market observation post system (MOPS) adds a new "Financial
reference database" for investors to do investment reference. This
database as a warning to public offering companies listed on the
public financial information and it original within eight targets. In
this paper, this database provided by the indicators for the application
of company financial crisis early warning model verify that the
database provided by the indicator forecast for the financial crisis,
whether or not companies have a high accuracy rate as opposed to
domestic and foreign scholars have positive results. There is use of
Logistic Regression Model application of the financial early warning
model, in which no joined back-conditions is the first model, joined it
in is the second model, has been taken occurred in the financial crisis
of companies to research samples and then business took place
before the financial crisis point with T-1 and T-2 sample data to do
positive analysis. The results show that this database provided the
debt ratio and net per share for the best forecast variables.
Abstract: Global environmental changes lead to increased frequency and scale of natural disaster, Taiwan is under the influence of global warming and extreme weather. Therefore, the vulnerability was increased and variability and complexity of disasters is relatively enhanced. The purpose of this study is to consider the source and magnitude of hazard characteristics on the tourism industry. Using modern risk management concepts, integration of related domestic and international basic research, this goes beyond the Taiwan typhoon disaster risk assessment model and evaluation of loss. This loss evaluation index system considers the impact of extreme weather, in particular heavy rain on the tourism industry in Taiwan. Consider the extreme climate of the compound impact of disaster for the tourism industry; we try to make multi-hazard risk assessment model, strategies and suggestions. Related risk analysis results are expected to provide government department, the tourism industry asset owners, insurance companies and banking include tourist disaster risk necessary information to help its tourism industry for effective natural disaster risk management.
Abstract: This research aims to study the preferable tourism and
the elements of choosing tourist destination from domestic tourist in
Bangkok and the nearby areas in Thailand.The data were collected by
using 1249 set of questionnaires, in mid-August 2012. The result
illustrates that religious destinations are the most preferable places
for the tourist. The average expense per travel is approximately 47
USD a time. Travellers travel based on the advertisement in the
television and internet and their decisions is based on the reputation
of the destinations.
The result on a place dimension demonstrates the neatness and
well managed location play a crucial role on tourist destination.
Gender, age, marriage status and their origins are affecting their
spending and travelling behaviour. The researcher reckon that
providing the area of arcade, selling the souvenir and promoting
tourism among a young professional group would be an important
key follow the income distribution policy, including managing the
destination to welcome the family group, which the result is to
identified as the highest spending.
Abstract: The construction industry is the pillar industry in
China, accounting for about 6% of the gross domestic product. Along
with changes in the external environment of the construction industry
in China, the construction firm faces fierce competition. The paper
aims to investigate the relationship between diversified types of
construction firm and its performance in China. Based on generalist
and specialist strategy in organizational ecology, we think a generalist
organization can be applied to an enterprise with diversified
developments, while specialist groups are extended to professional
enterprises .This study takes advantage of annual financial data of
listed construction firm to empirically verify the relationship between
diversification and corporation performance establishing a regression
equation to econometric analysis. We find that: 1) Specialization can
significantly improve the level of profitability of listed construction
firms, and there is a significant positive relationship with corporate
performance; 2) The level of operating performance of listed
construction enterprises which engage in unrelated diversification is
higher than those with related diversification; 3) The relationship
between state-owned construction firms and corporate performance is
negative. The more the year of foundation is, the higher performance
will be; however, the more the year of being listed, the lower
performance will be.
Abstract: The oleaginous yeasts Lipomyces starkey were grown
in the presence of dairy industry wastewaters (DIW). The yeasts were
able to degrade the organic components of DIW and to produce a
significant fraction of their biomass as triglycerides.
When using DIW from the Ricotta cheese production or residual
whey as growth medium, the L. starkey could be cultured without
dilution nor external organic supplement. On the contrary, the yeasts
could only partially degrade the DIW from the Mozzarella cheese
production, due to the accumulation of a metabolic product beyond
the threshold of toxicity. In this case, a dilution of the DIW was
required to obtain a more efficient degradation of the carbon
compounds and an higher yield in oleaginous biomass.
The fatty acid distribution of the microbial oils obtained showed a
prevalence of oleic acid, and is compatible with the production of a II
generation biodiesel offering a good resistance to oxidation as well as
an excellent cold-performance.
Abstract: Amphawa is the most popular weekend destination for
both domestic and international tourists in Thailand. More than 112
homestays and resorts have been developed along the water
resources. This research aims to initiate appropriate environmental
management system for riverside tourist accommodations in
Amphawa by investigating current environmental characteristics.
Eighty-eight riverside tourist accommodations were survey from
specific questionnaire, GPS data were also gathered for spatial
analysis. The results revealed that the accommodations are welled
manage in regards to some environmental aspects. In order to reduce
economic costs, energy efficiency equipment is utilized. A substantial
number of tourist accommodations encouraged waste separation,
followed by transfer to local administration organization. Grease
traps also utilized in order to decrease chemical discharged, grease
and oil from canteen and restaurants on natural environment. The
most notable mitigation is to initiate environmental friendly cleansers
for tourist accommodation along the riverside in tourism destinations.
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: Recent widespread use of information and
communication technology has greatly changed information security
risks that businesses and institutions encounter. Along with this
situation, in order to ensure security and have confidence in electronic
trading, it has become important for organizations to take competent
information security measures to provide international confidence that
sensitive information is secure. Against this backdrop, the approach to
information security checking has come to an important issue, which
is believed to be common to all countries. The purpose of this paper is
to introduce the new system of information security checking program
in Korea and to propose synthetic information security
countermeasures under domestic circumstances in order to protect
physical equipment, security management and technology, and the
operation of security check for securing services on ISP(Internet
Service Provider), IDC(Internet Data Center), and
e-commerce(shopping malls, etc.)
Abstract: Particulate matter (PM) in ambient air is responsible
for adverse health effects in adults and children. Relatively little is
known about the concentrations, sources and health effects of PM in
indoor air. A monitoring study was conducted in Ankara by three
campaigns in order to measure PM levels in indoor and outdoor
environments to identify and quantify associations between sources
and concentrations. Approximately 82 homes (1st campaign for 42,
2nd campaign for 12, and 3rd campaign for 28), three rooms (living
room, baby-s room and living room used as a baby-s room) and
outdoor ambient at each home were sampled with Grimm
Environmental Dust Monitoring (EDM) 107, during different
seasonal periods of 2011 and 2012. In this study, the relationship
between indoor and outdoor PM levels for particulate matter less than
10 micrometer (.m) (PM10), particulate matter less than 2.5.m
(PM2.5) and particulate matter less than 1.0.m (PM1) were
investigated. The mean concentration of PM10, PM2.5, and PM1.0 at
living room used as baby-s room is higher than living and baby-s
room (or bedroom) for three sampling campaigns. It is concluded that
the household activities and environmental conditions are very
important for PM concentrations in the indoor environments during
the sampling periods. The amount of smokers, being near a main
street and/or construction activities increased the PM concentration.
This study is based on the assessment the relationship between indoor
and outdoor PM levels and the household activities and
environmental conditions