Abstract: This paper reviews the major contributions to the Motion Planning (MP) field throughout a 35-year period, from classic approaches to heuristic algorithms. Due to the NP-Hardness of the MP problem, heuristic methods have outperformed the classic approaches and have gained wide popularity. After surveying around 1400 papers in the field, the amount of existing works for each method is identified and classified. Especially, the history and applications of numerous heuristic methods in MP is investigated. The paper concludes with comparative tables and graphs demonstrating the frequency of each MP method's application, and so can be used as a guideline for MP researchers.
Abstract: In two studies we challenged the well consolidated
position in regret literature according to which the necessary
condition for the emergence of regret is a bad outcome ensuing from
free decisions. Without free choice, and, consequently, personal
responsibility, other emotions, such as disappointment, but not regret,
are supposed to be elicited. In our opinion, a main source of regret is
being obliged by circumstance out of our control to chose an
undesired option. We tested the hypothesis that regret resulting from
a forced choice is more intense than regret derived from a free choice
and that the outcome affects the latter, not the former. Besides, we
investigated whether two other variables – the perception of the level
of freedom of the choice and the choice justifiability – mediated the
relationships between choice and regret, as well as the other four
emotions we examined: satisfaction, anger toward oneself,
disappointment, anger towards circumstances. The two studies were
based on the scenario methodology and implied a 2 x 2 (choice x
outcome) between design. In the first study the foreseen short-term
effects of the choice were assessed; in the second study the
experienced long-term effects of the choice were assessed. In each
study 160 students of the Second University of Naples participated.
Results largely corroborated our hypotheses. They were discussed in
the light of the main theories on regret and decision making.
Abstract: The goal of this paper is to segment the countries
based on the value of export from Iran during 14 years ending at 2005. To measure the dissimilarity among export baskets of different countries, we define Dissimilarity Export Basket (DEB) function and
use this distance function in K-means algorithm. The DEB function
is defined based on the concepts of the association rules and the
value of export group-commodities. In this paper, clustering quality
function and clusters intraclass inertia are defined to, respectively,
calculate the optimum number of clusters and to compare the
functionality of DEB versus Euclidean distance. We have also study
the effects of importance weight in DEB function to improve
clustering quality. Lastly when segmentation is completed, a
designated RFM model is used to analyze the relative profitability of
each cluster.
Abstract: This paper describes the modeling and simulation of an
underwater robot glider used in the shallow-water environment. We
followed the Equations of motion derived by [2] and simplified
dynamic Equations of motion of an underwater glider according to our
underwater glider. A simulation code is built and operated in the
MATLAB Simulink environment so that we can make improvements
to our testing glider design. It may be also used to validate a robot
glider design.
Abstract: In this paper, the construction of a detailed spine
model is presented using the LifeMOD Biomechanics Modeler. The
detailed spine model is obtained by refining spine segments in
cervical, thoracic and lumbar regions into individual vertebra
segments, using bushing elements representing the intervertebral
discs, and building various ligamentous soft tissues between
vertebrae. In the sagittal plane of the spine, constant force will be
applied from the posterior to anterior during simulation to determine
dynamic characteristics of the spine. The force magnitude is
gradually increased in subsequent simulations. Based on these
recorded dynamic properties, graphs of displacement-force
relationships will be established in terms of polynomial functions by
using the least-squares method and imported into a haptic integrated
graphic environment. A thoracolumbar spine model with complex
geometry of vertebrae, which is digitized from a resin spine
prototype, will be utilized in this environment. By using the haptic
technique, surgeons can touch as well as apply forces to the spine
model through haptic devices to observe the locomotion of the spine
which is computed from the displacement-force relationship graphs.
This current study provides a preliminary picture of our ongoing
work towards building and simulating bio-fidelity scoliotic spine
models in a haptic integrated graphic environment whose dynamic
properties are obtained from LifeMOD. These models can be helpful
for surgeons to examine kinematic behaviors of scoliotic spines and
to propose possible surgical plans before spine correction operations.
Abstract: This paper presents strategies for dynamically creating, managing and removing mesh cells during computations in the context of the Material Point Method (MPM). The dynamic meshing approach has been developed to help address problems involving motion of a finite size body in unbounded domains in which the extent of material travel and deformation is unknown a priori, such as in the case of landslides and debris flows. The key idea is to efficiently instantiate and search only cells that contain material points, thereby avoiding unneeded storage and computation. Mechanisms for doing this efficiently are presented, and example problems are used to demonstrate the effectiveness of dynamic mesh management relative to alternative approaches.
Abstract: The primary objective of this paper was to construct a
“kinematic parameter-independent modeling of three-axis machine
tools for geometric error measurement" technique. Improving the
accuracy of the geometric error for three-axis machine tools is one of
the machine tools- core techniques. This paper first applied the
traditional method of HTM to deduce the geometric error model for
three-axis machine tools. This geometric error model was related to the
three-axis kinematic parameters where the overall errors was relative
to the machine reference coordinate system. Given that the
measurement of the linear axis in this model should be on the ideal
motion axis, there were practical difficulties. Through a measurement
method consolidating translational errors and rotational errors in the
geometric error model, we simplified the three-axis geometric error
model to a kinematic parameter-independent model. Finally, based on
the new measurement method corresponding to this error model, we
established a truly practical and more accurate error measuring
technique for three-axis machine tools.
Abstract: In the paper the results of calculations of the dynamic
response of a multi-storey reinforced concrete building to a strong
mining shock originated from the main region of mining activity in
Poland (i.e. the Legnica-Glogow Copper District) are presented. The
representative time histories of accelerations registered in three
directions were used as ground motion data in calculations of the
dynamic response of the structure. Two variants of a numerical model
were applied: the model including only structural elements of the
building and the model including both structural and non-structural
elements (i.e. partition walls and ventilation ducts made of brick). It
turned out that non-structural elements of multi-storey RC buildings
have a small impact of about 10 % on natural frequencies of these
structures. It was also proved that the dynamic response of building
to mining shock obtained in case of inclusion of all non-structural
elements in the numerical model is about 20 % smaller than in case
of consideration of structural elements only. The principal stresses
obtained in calculations of dynamic response of multi-storey building
to strong mining shock are situated on the level of about 30% of
values obtained from static analysis (dead load).
Abstract: In the present work, study of the vibration of thin cylindrical shells made of a functionally gradient material (FGM) composed of stainless steel and nickel is presented. Material properties are graded in the thickness direction of the shell according to volume fraction power law distribution. The objective is to study the natural frequencies, the influence of constituent volume fractions and the effects of boundary conditions on the natural frequencies of the FG cylindrical shell. The study is carried out using third order shear deformation shell theory. The analysis is carried out using Hamilton's principle. The governing equations of motion of FG cylindrical shells are derived based on shear deformation theory. Results are presented on the frequency characteristics, influence of constituent volume fractions and the effects of clamped-free boundary conditions
Abstract: In this experimental investigation shake table tests
were conducted on two reduced models that represent normal single
room building constructed by Compressed Stabilized Earth Block
(CSEB) from locally available soil. One model was constructed with
earthquake resisting features (EQRF) having sill band, lintel band and
vertical bands to control the building vibration and another one was
without Earthquake Resisting Features. To examine the seismic
capacity of the models particularly when it is subjected to long-period
ground motion by large amplitude by many cycles of repeated
loading, the test specimen was shaken repeatedly until the failure.
The test results from Hi-end Data Acquisition system show that
model with EQRF behave better than without EQRF. This modified
masonry model with new material combined with new bands is used
to improve the behavior of masonry building.
Abstract: A minimal complexity version of component mode
synthesis is presented that requires simplified computer
programming, but still provides adequate accuracy for modeling
lower eigenproperties of large structures and their transient
responses. The novelty is that a structural separation into components
is done along a plane/surface that exhibits rigid-like behavior, thus
only normal modes of each component is sufficient to use, without
computing any constraint, attachment, or residual-attachment modes.
The approach requires only such input information as a few (lower)
natural frequencies and corresponding undamped normal modes of
each component. A novel technique is shown for formulation of
equations of motion, where a double transformation to generalized
coordinates is employed and formulation of nonproportional damping
matrix in generalized coordinates is shown.
Abstract: The purpose of this study is to determine the
circumstances affecting elementary school students in their family
and school lives and what kind of emotions children may feel
because of these circumstances. The study was carried out according
to the survey model. Four Turkish elementary schools provided 123
fourth grade students for participation in the study. The study-s data
were collected by using worksheets for the activity titled “Important
Days in Our Lives", which was part of the Elementary School Social
Sciences Course 4th Grade Education Program. Data analysis was
carried out according to the content analysis technique used in
qualitative research. The study detected that circumstances of their
family and school lives caused children to feel emotions such as
happiness, sadness, anger, fear and jealousy. The circumstances and
the emotions caused by these circumstances were analyzed according
to gender and interpreted by presenting them with their frequencies.
Abstract: A personal estimate of a health risk may not
correspond to a scientific assessment of the health risk. Hence, there
is a need to investigate perceived health risks in the public. In this
study, a young, educated and healthy group of people from a tertiary
institute were questioned about their health concerns. Ethics
clearance was obtained and data was collected by means of a
questionnaire. 362 students participated in the study. Tobacco use,
heavy alcohol drinking, illicit drugs, unsafe sex and potential
carcinogens were perceived to be the five greatest threats to health in
this cohort. On the other hand natural health products,
unemployment, unmet contraceptive needs, family violence and
homelessness were felt to be the least perceived health risks.
Nutrition-related health risks as well as health risks due to physical
inactivity and obesity were not perceived as major health threats.
Such a study of health perceptions may guide health promotion
campaigns.
Abstract: In Mauritius, much emphasis is put on measures to
combat the high prevalence of non-communicable diseases (NCDs).
Health promotion campaigns for the adoption of healthy behaviors
and screening programs are done regularly by local authorities and
NCD surveys are carried out at intervals. However, the health
behaviors of the poor have not been investigated so far. This study
aims to give an insight on the perceptions of health status and
lifestyle health behaviors of poor people in Mauritius. A crosssectional
study among 83 persons benefiting from social aid in a
selected urban district was carried out. Results showed that 51.8% of
respondents perceived that they had good health status. 57.8% had no
known NCD whilst 25.3% had hypertension, followed by diabetes
(16.9%), asthma (9.6%) and heart disease (7.2%).They had low
smoking (10.8%) and alcohol consumption (6.0%) as well as high
physical activity prevalence (54.2%). These results were significantly
different from the NCD survey carried out in the general population.
Consumption of vegetables in the study was high. Overweight and
obesity trends were however similar to the NCD survey report 2009.
These findings contrast with other international studies showing poor
people having poor perceptions of health status and unhealthy
behavioral choices. Whether these positive health behaviors of poor
people in Mauritius arise out of choice or whether it is because the
alternative behavior is too costly remains to be investigated further.
Abstract: The paper presents an analytical solution for dispersion
of a solute in the peristaltic motion of a micropolar fluid in the
presence of magnetic field and both homogeneous and heterogeneous
chemical reactions. The average effective dispersion coefficient has
been found using Taylor-s limiting condition under long wavelength
approximation. The effects of various relevant parameters on the average
coefficient of dispersion have been studied. The average effective
dispersion coefficient increases with amplitude ratio, cross viscosity
coefficient and heterogeneous chemical reaction rate parameter. But it
decreases with magnetic field parameter and homogeneous chemical
reaction rate parameter. It can be noted that the presence of peristalsis
enhances dispersion of a solute.
Abstract: At very high speeds, bubbles form in the underwater vehicles because of sharp trailing edges or of places where the local pressure is lower than the vapor pressure. These bubbles are called cavities and the size of the cavities grows as the velocity increases. A properly designed cavitator can induce the formation of a single big cavity all over the vehicle. Such a vehicle travelling in the vaporous cavity is called a supercavitating vehicle and the present research work mainly focuses on the dynamic modeling of such vehicles. Cavitation of the fins is also accounted and the effect of the same on trajectory is well explained. The entire dynamics has been developed using the state space approach and emphasis is given on the effect of size and angle of attack of the cavitator. Control law has been established for the motion of the vehicle using Non-linear Dynamic Inverse (NDI) with cavitator as the control surface.
Abstract: This paper reports on a receding horizon filtering for
mobile robot systems with cross-correlated sensor noises and
uncertainties. Also, the effect of uncertain parameters in the state of
the tracking error model performance is considered. A distributed
fusion receding horizon filter is proposed. The distributed fusion
filtering algorithm represents the optimal linear combination of the
local filters under the minimum mean square error criterion. The
derivation of the error cross-covariances between the local receding
horizon filters is the key of this paper. Simulation results of the
tracking mobile robot-s motion demonstrate high accuracy and
computational efficiency of the distributed fusion receding horizon
filter.
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 presents the results of enhancing images from a left and right stereo pair in order to increase the resolution of a 3D representation of a scene generated from that same pair. A new neural network structure known as a Self Delaying Dynamic Network (SDN) has been used to perform the enhancement. The advantage of SDNs over existing techniques such as bicubic interpolation is their ability to cope with motion and noise effects. SDNs are used to generate two high resolution images, one based on frames taken from the left view of the subject, and one based on the frames from the right. This new high resolution stereo pair is then processed by a disparity map generator. The disparity map generated is compared to two other disparity maps generated from the same scene. The first is a map generated from an original high resolution stereo pair and the second is a map generated using a stereo pair which has been enhanced using bicubic interpolation. The maps generated using the SDN enhanced pairs match more closely the target maps. The addition of extra noise into the input images is less problematic for the SDN system which is still able to out perform bicubic interpolation.
Abstract: Wireless Sensor Networks (WSN) are emerging
because of the developments in wireless communication technology and miniaturization of the hardware. WSN consists of a large number of low-cost, low-power, multifunctional sensor nodes to monitor physical conditions, such as temperature, sound, vibration, pressure,
motion, etc. The MAC protocol to be used in the sensor networks must be energy efficient and this should aim at conserving the energy during its operation. In this paper, with the focus of analyzing the
MAC protocols used in wireless Adhoc networks to WSN, simulation
experiments were conducted in Global Mobile Simulator
(GloMoSim) software. Number of packets sent by regular nodes, and received by sink node in different deployment strategies, total energy
spent, and the network life time have been chosen as the metric for comparison. From the results of simulation, it is evident that the IEEE 802.11 protocol performs better compared to CSMA and MACA protocols.