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 the article the experience of principle new
technology development of ethnopsychological experiment on the
basis of using other virtual independent experimental variables is
presented. It is shown that ethnic prejudices are the result of forming
and development of specific semantic barriers, arising up in the
conditions of interethnic co-operation and people-s communication.
Their overcoming is more successful in the conditions of the special
organized process of teaching in a polyethnic environment,
characteristic for the modern institute
Abstract: Organizational communication is an administrative
function crucial especially for executives in the implementation of
organizational and administrative functions. Executives spend a
significant part of their time on communicative activities. Doing his or her daily routine, arranging meeting schedules, speaking on the telephone, reading or replying to business correspondence, or
fulfilling the control functions within the organization, an executive typically engages in communication processes.
Efficient communication is the principal device for the adequate implementation of administrative and organizational activities. For
this purpose, management needs to specify the kind of
communication system to be set up and the kind of communication
devices to be used. Communication is vital for any organization.
In conventional offices, communication takes place within the hierarchical pyramid called the organizational structure, and is known as formal or informal communication. Formal communication
is the type that works in specified structures within the organizational rules and towards the organizational goals. Informal communication, on the other hand, is the unofficial type taking place among staff as
face-to-face or telephone interaction.
Communication in virtual as well as conventional offices is
essential for obtaining the right information in administrative
activities and decision-making. Virtual communication technologies
increase the efficiency of communication especially in virtual teams.
Group communication is strengthened through an inter-group central
channel. Further, ease of information transmission makes it possible
to reach the information at the source, allowing efficient and correct decisions. Virtual offices can present as a whole the elements of information which conventional offices produce in different
environments.
At present, virtual work has become a reality with its pros and
cons, and will probably spread very rapidly in coming years, in line
with the growth in information technologies.
Abstract: Non-stationary trend in R-R interval series is
considered as a main factor that could highly influence the evaluation
of spectral analysis. It is suggested to remove trends in order to obtain
reliable results. In this study, three detrending methods, the
smoothness prior approach, the wavelet and the empirical mode
decomposition, were compared on artificial R-R interval series with
four types of simulated trends. The Lomb-Scargle periodogram was
used for spectral analysis of R-R interval series. Results indicated that
the wavelet method showed a better overall performance than the other
two methods, and more time-saving, too. Therefore it was selected for
spectral analysis of real R-R interval series of thirty-seven healthy
subjects. Significant decreases (19.94±5.87% in the low frequency
band and 18.97±5.78% in the ratio (p
Abstract: This paper explores the opportunity of using tri-axial
wireless accelerometers for supervised monitoring of sports
movements. A motion analysis system for the upper extremities of
lawn bowlers in particular is developed. Accelerometers are placed
on parts of human body such as the chest to represent the shoulder
movements, the back to capture the trunk motion, back of the hand,
the wrist and one above the elbow, to capture arm movements. These
sensors placement are carefully designed in order to avoid restricting
bowler-s movements. Data is acquired from these sensors in soft-real
time using virtual instrumentation; the acquired data is then
conditioned and converted into required parameters for motion
regeneration. A user interface was also created to facilitate in the
acquisition of data, and broadcasting of commands to the wireless
accelerometers. All motion regeneration in this paper deals with the
motion of the human body segment in the X and Y direction, looking
into the motion of the anterior/ posterior and lateral directions
respectively.
Abstract: In this paper, an efficient technique is proposed to manage the cache memory. The proposed technique introduces some modifications on the well-known set associative mapping technique. This modification requires a little alteration in the structure of the cache memory and on the way by which it can be referenced. The proposed alteration leads to increase the set size virtually and consequently to improve the performance and the utilization of the cache memory. The current mapping techniques have accomplished good results. In fact, there are still different cases in which cache memory lines are left empty and not used, whereas two or more processes overwrite the lines of each other, instead of using those empty lines. The proposed algorithm aims at finding an efficient way to deal with such problem.
Abstract: Augmented Reality (AR) shows great promises for
its usage as a tool for simulation and verification of design proposal
of new technological systems. Main advantage of augmented reality
application usage is possibility of creation and simulation of new
technological unit before its realization. This may contribute to
increasing of safety and ergonomics and decreasing of economical
aspects of new proposed unit. Virtual model of proposed workcell
could reveal hidden errors which elimination in later stage of new
workcell creation should cause great difficulties. Paper describes
process of such virtual model creation and possibilities of its
simulation and verification by augmented reality tools.
Abstract: Due to the limited lifetime of the nodes in ad hoc and sensor networks, energy efficiency needs to be an important design consideration in any routing algorithm. It is known that by employing a virtual backbone in a wireless network, the efficiency of any routing scheme for the network can be improved. One common design for routing protocols in mobile ad hoc networks is to use positioning information; we use the node-s geometric locations to introduce an algorithm that can construct the virtual backbone structure locally in 3D environment. The algorithm construction has a constant time.
Abstract: In the present study, we aimed to design the
intrauterine and extrauterine exposure to 1800 MHz GSM-like RF
radiation and investigate its possible bio-effects on infant female
rabbits. Totally thirty-six New Zealand White female rabbits, onemonth
old, were randomly divided into four groups which are
composed of 9 rabbits; i. Group I [Intrauterine (IU) exposure(-);
Extrauterine (EU) exposure (-)], Group II [IU exposure (-); EU
exposure (+)], Group III [IU exposure(+);EU exposure(-)], Group IV
[IU exposure (+);EU exposure(+)]. The master regulatory enzymes
activities of pentose phosphate pathway (glucose-6-phosphate
dehydrogenase, G-6PD; 6-phosphogluconate dehydrogenase, 6-
PGDH) and glutathione-dependent metabolism (glutathione
peroxidase, GSH-Px; glutathione reductase, GR; glutathione Stransferase,
GST, thioredoxin reductase, TRx) were analyzed in liver
tissues of young female rabbits. Decreased G-6PD, 6-PGD, GSH-Px,
GR activities were found in Group III compared to Group I (p
Abstract: Structural representation and technology mapping of
a Boolean function is an important problem in the design of nonregenerative
digital logic circuits (also called combinational logic
circuits). Library aware function manipulation offers a solution to
this problem. Compact multi-level representation of binary networks,
based on simple circuit structures, such as AND-Inverter Graphs
(AIG) [1] [5], NAND Graphs, OR-Inverter Graphs (OIG), AND-OR
Graphs (AOG), AND-OR-Inverter Graphs (AOIG), AND-XORInverter
Graphs, Reduced Boolean Circuits [8] does exist in
literature. In this work, we discuss a novel and efficient graph
realization for combinational logic circuits, represented using a
NAND-NOR-Inverter Graph (NNIG), which is composed of only
two-input NAND (NAND2), NOR (NOR2) and inverter (INV) cells.
The networks are constructed on the basis of irredundant disjunctive
and conjunctive normal forms, after factoring, comprising terms with
minimum support. Construction of a NNIG for a non-regenerative
function in normal form would be straightforward, whereas for the
complementary phase, it would be developed by considering a virtual
instance of the function. However, the choice of best NNIG for a
given function would be based upon literal count, cell count and
DAG node count of the implementation at the technology
independent stage. In case of a tie, the final decision would be made
after extracting the physical design parameters.
We have considered AIG representation for reduced disjunctive
normal form and the best of OIG/AOG/AOIG for the minimized
conjunctive normal forms. This is necessitated due to the nature of
certain functions, such as Achilles- heel functions. NNIGs are found
to exhibit 3.97% lesser node count compared to AIGs and
OIG/AOG/AOIGs; consume 23.74% and 10.79% lesser library cells
than AIGs and OIG/AOG/AOIGs for the various samples considered.
We compare the power efficiency and delay improvement achieved
by optimal NNIGs over minimal AIGs and OIG/AOG/AOIGs for
various case studies. In comparison with functionally equivalent,
irredundant and compact AIGs, NNIGs report mean savings in power
and delay of 43.71% and 25.85% respectively, after technology
mapping with a 0.35 micron TSMC CMOS process. For a
comparison with OIG/AOG/AOIGs, NNIGs demonstrate average
savings in power and delay by 47.51% and 24.83%. With respect to
device count needed for implementation with static CMOS logic
style, NNIGs utilize 37.85% and 33.95% lesser transistors than their
AIG and OIG/AOG/AOIG counterparts.
Abstract: This paper presents a solution for the behavioural animation of autonomous virtual agent navigation in virtual environments. We focus on using Dempster-Shafer-s Theory of Evidence in developing visual sensor for virtual agent. The role of the visual sensor is to capture the information about the virtual environment or identifie which part of an obstacle can be seen from the position of the virtual agent. This information is require for vitual agent to coordinate navigation in virtual environment. The virual agent uses fuzzy controller as a navigation system and Fuzzy α - level for the action selection method. The result clearly demonstrates the path produced is reasonably smooth even though there is some sharp turn and also still not diverted too far from the potential shortest path. This had indicated the benefit of our method, where more reliable and accurate paths produced during navigation task.
Abstract: An intuitive user interface for the teleoperation of mobile rescue robots is one key feature for a successful exploration of inaccessible and no-go areas. Therefore, we have developed a novel framework to embed a flexible and modular user interface into a complete 3-D virtual reality simulation system. Our approach is based on a client-server architecture to allow for a collaborative control of the rescue robot together with multiple clients on demand. Further, it is important that the user interface is not restricted to any specific type of mobile robot. Therefore, our flexible approach allows for the operation of different robot types with a consistent concept and user interface. In laboratory tests, we have evaluated the validity and effectiveness of our approach with the help of two different robot platforms and several input devices. As a result, an untrained person can intuitively teleoperate both robots without needing a familiarization time when changing the operating robot.
Abstract: A method based on the power series solution is proposed to solve the natural frequency of flapping vibration for the rotating inclined Euler beam with constant angular velocity. The vibration of the rotating beam is measured from the position of the corresponding steady state axial deformation. In this paper the governing equations for linear vibration of a rotating Euler beam are derived by the d'Alembert principle, the virtual work principle and the consistent linearization of the fully geometrically nonlinear beam theory in a rotating coordinate system. The governing equation for flapping vibration of the rotating inclined Euler beam is linear ordinary differential equation with variable coefficients and is solved by a power series with four independent coefficients. Substituting the power series solution into the corresponding boundary conditions at two end nodes of the rotating beam, a set of homogeneous equations can be obtained. The natural frequencies may be determined by solving the homogeneous equations using the bisection method. Numerical examples are studied to investigate the effect of inclination angle on the natural frequency of flapping vibration for rotating inclined Euler beams with different angular velocity and slenderness ratio.
Abstract: This paper presents a low-voltage low-power differential linear transconductor with near rail-to-rail input swing. Based on the current-mirror OTA topology, the proposed transconductor combines the Flipped Voltage Follower (FVF) technique to linearize the transconductor behavior that leads to class- AB linear operation and the virtual transistor technique to lower the effective threshold voltages of the transistors which offers an advantage in terms of low supply requirement. Design of the OTA has been discussed. It operates at supply voltages of about ±0.8V. Simulation results for 0.18μm TSMC CMOS technology show a good input range of 1Vpp with a high DC gain of 81.53dB and a total harmonic distortion of -40dB at 1MHz for an input of 1Vpp. The main aim of this paper is to present and compare new OTA design with high transconductance, which has a potential to be used in low voltage applications.
Abstract: Key management is a vital component in any modern security protocol. Due to scalability and practical implementation considerations automatic key management seems a natural choice in significantly large virtual private networks (VPNs). In this context IETF Internet Key Exchange (IKE) is the most promising protocol under permanent review. We have made a humble effort to pinpoint IKEv2 net gain over IKEv1 due to recent modifications in its original structure, along with a brief overview of salient improvements between the two versions. We have used US National Institute of Technology NIIST VPN simulator to get some comparisons of important performance metrics.
Abstract: Grid computing provides a virtual framework for
controlled sharing of resources across institutional boundaries.
Recently, trust has been recognised as an important factor for
selection of optimal resources in a grid. We introduce a new method
that provides a quantitative trust value, based on the past interactions
and present environment characteristics. This quantitative trust value
is used to select a suitable resource for a job and eliminates run time
failures arising from incompatible user-resource pairs. The proposed
work will act as a tool to calculate the trust values of the various
components of the grid and there by improves the success rate of the
jobs submitted to the resource on the grid. The access to a resource
not only depend on the identity and behaviour of the resource but
also upon its context of transaction, time of transaction, connectivity
bandwidth, availability of the resource and load on the resource. The
quality of the recommender is also evaluated based on the accuracy
of the feedback provided about a resource. The jobs are submitted for
execution to the selected resource after finding the overall trust value
of the resource. The overall trust value is computed with respect to
the subjective and objective parameters.
Abstract: Educational institutions are increasingly exploring the affordances of 3D virtual worlds for instruction and research, but few studies have been done to document current practices and uses of this emerging technology. This observational survey examines the virtual presences of 170 accredited educational institutions found in one such 3D virtual world called Second Life®, created by San- Francisco based Linden Lab®. The study focuses on what educational institutions look like in this virtual environment, the types of spaces educational institutions are creating or simulating, and what types of activities are being conducted.
Abstract: The purpose of this study is to design a portable virtual
piano. By utilizing optical fiber gloves and the virtual piano software
designed by this study, the user can play the piano anywhere at any
time. This virtual piano consists of three major parts: finger tapping
identification, hand movement and positioning identification, and
MIDI software sound effect simulation. To play the virtual piano, the
user wears optical fiber gloves and simulates piano key tapping
motions. The finger bending information detected by the optical fiber
gloves can tell when piano key tapping motions are made. Images
captured by a video camera are analyzed, hand locations and moving
directions are positioned, and the corresponding scales are found. The
system integrates finger tapping identification with information about
hand placement in relation to corresponding piano key positions, and
generates MIDI piano sound effects based on this data. This
experiment shows that the proposed method achieves an accuracy rate
of 95% for determining when a piano key is tapped.
Abstract: The increase on the demand of IT resources diverts
the enterprises to use the cloud as a cheap and scalable solution.
Cloud computing promises achieved by using the virtual machine as a
basic unite of computation. However, the virtual machine pre-defined
settings might be not enough to handle jobs QoS requirements. This
paper addresses the problem of mapping jobs have critical start
deadlines to virtual machines that have predefined specifications.
These virtual machines hosted by physical machines and shared a
fixed amount of bandwidth. This paper proposed an algorithm that
uses the idle virtual machines bandwidth to increase the quote of other
virtual machines nominated as executors to urgent jobs. An algorithm
with empirical study have been given to evaluate the impact of the
proposed model on impatient jobs. The results show the importance
of dynamic bandwidth allocation in virtualized environment and its
affect on throughput metric.
Abstract: A son in every Hindu society pays his own father the debt and he owes him for his own life whereas a girl child is treated as a burden mainly in case of first child. Even today in India we have many societies which does not welcome girl child. Although there is an increase in overall sex ratio, there is a continuous decline in child sex ratio. This paper focuses on issues of sex selective abortion in Rajasthan based on secondary data. It is found that 90.0 percentages of women in Rajasthan wants at least one son. Around 34.3 percentages of women wants more sons than daughters and only 1.5 percentages of women wants more daughters than sons. It is very common among the rich and educated people.