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: Smoke discharging is a main reason of air pollution
problem from industrial plants. The obstacle of a building has an
affect with the air pollutant discharge. In this research, a mathematical
model of the smoke dispersion from two sources and one source with
a structural obstacle is considered. The governing equation of the
model is an isothermal mass transfer model in a viscous fluid. The
finite element method is used to approximate the solutions of the
model. The triangular linear elements have been used for discretising
the domain, and time integration has been carried out by semi-implicit
finite difference method. The simulations of smoke dispersion in
cases of one chimney and two chimneys are presented. The maximum
calculated smoke concentration of both cases are compared. It is then
used to make the decision for smoke discharging and air pollutant
control problems on industrial area.
Abstract: A topologically oriented neural network is very
efficient for real-time path planning for a mobile robot in changing
environments. When using a recurrent neural network for this
purpose and with the combination of the partial differential equation
of heat transfer and the distributed potential concept of the network,
the problem of obstacle avoidance of trajectory planning for a
moving robot can be efficiently solved. The related dimensional
network represents the state variables and the topology of the robot's
working space. In this paper two approaches to problem solution are
proposed. The first approach relies on the potential distribution of
attraction distributed around the moving target, acting as a unique
local extreme in the net, with the gradient of the state variables
directing the current flow toward the source of the potential heat. The
second approach considers two attractive and repulsive potential
sources to decrease the time of potential distribution. Computer
simulations have been carried out to interrogate the performance of
the proposed approaches.
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).
Abstract: One of the long standing challenging aspect in mobile robotics is the ability to navigate autonomously, avoiding modeled and unmodeled obstacles especially in crowded and unpredictably changing environment. A successful way of structuring the navigation task in order to deal with the problem is within behavior based navigation approaches. In this study, Issues of individual behavior design and action coordination of the behaviors will be addressed using fuzzy logic. A layered approach is employed in this work in which a supervision layer based on the context makes a decision as to which behavior(s) to process (activate) rather than processing all behavior(s) and then blending the appropriate ones, as a result time and computational resources are saved.
Abstract: The main objective of this project is to build an
autonomous microcontroller-based mobile robot for a local robot
soccer competition. The black competition field is equipped with
white lines to serve as the guidance path for competing robots. Two
prototypes of soccer robot embedded with the Basic Stamp II
microcontroller have been developed. Two servo motors are used as
the drive train for the first prototype whereas the second prototype
uses two DC motors as its drive train. To sense the lines, lightdependent
resistors (LDRs) supply the analog inputs for the
microcontroller. The performances of both prototypes are evaluated.
The DC motor-driven robot has produced better trajectory control
over the one using servo motors and has brought the team into the
final round.
Abstract: IEEE 802.15.4a impulse radio-time hopping ultra wide
band (IR-TH UWB) physical layer, due to small duty cycle and very
short pulse widths is robust against multipath propagation. However,
scattering and reflections with the large number of obstacles in indoor
channel environments, give rise to dense multipath fading. It imposes
serious problem to optimum Rake receiver architectures, for which
very large number of fingers are needed. Presence of strong noise
also affects the reception of fine pulses having extremely low power
spectral density. A robust SRake receiver for IEEE 802.15.4a IRTH
UWB in dense multipath and additive white Gaussian noise
(AWGN) is proposed to efficiently recover the weak signals with
much reduced complexity. It adaptively increases the signal to noise
(SNR) by decreasing noise through a recursive least square (RLS)
algorithm. For simulation, dense multipath environment of IEEE
802.15.4a industrial non line of sight (NLOS) is employed. The power
delay profile (PDF) and the cumulative distribution function (CDF)
for the respective channel environment are found. Moreover, the error
performance of the proposed architecture is evaluated in comparison
with conventional SRake and AWGN correlation receivers. The
simulation results indicate a substantial performance improvement
with very less number of Rake fingers.
Abstract: 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.
Abstract: The six sigma method is a project-driven management approach to improve the organization-s products, services, and processes by continually reducing defects in the organization. Understanding the key features, obstacles, and shortcomings of the six sigma method allows organizations to better support their strategic directions, and increasing needs for coaching, mentoring, and training. It also provides opportunities to better implement six sigma projects. The purpose of this paper is the survey of six sigma process and its impact on the organizational productivity. So I have studied key concepts , problem solving process of six sigmaas well as the survey of important fields such as: DMAIC, six sigma and productivity applied programme, and other advantages of six sigma. In the end of this paper, present research conclusions. (direct and positive relation between six sigma and productivity)
Abstract: Amazing development of the information technology,
communications and internet expansion as well as the requirements
of the city managers to new ideas to run the city and higher
participation of the citizens encourage us to complete the electronic
city as soon as possible. The foundations of this electronic city are in
information technology. People-s participation in metropolitan
management is a crucial topic. Information technology does not
impede this matter. It can ameliorate populace-s participation and
better interactions between the citizens and the city managers.
Citizens can proffer their ideas, beliefs and votes through digital
mass media based upon the internet and computerization plexuses on
the topical matters to receive appropriate replies and services. They
can participate in urban projects by becoming cognizant of the city
views. The most significant challenges are as follows: information
and communicative management, altering citizens- views, as well as
legal and office documents
Electronic city obstacles have been identified in this research. The
required data were forgathered through questionnaires to identify the
barriers from a statistical community comprising specialists and
practitioners of the ministry of information technology and
communication, the municipality information technology
organization.
The conclusions demonstrate that the prioritized electronic city
application barriers in Iran are as follows:
The support quandaries (non-financial ones), behavioral, cultural
and educational plights, the security, legal and license predicaments,
the hardware, orismological and infrastructural curbs, the software
and fiscal problems.
Abstract: Swarm principles are increasingly being used to design controllers for the coordination of multi-robot systems or, in general, multi-agent systems. This paper proposes a two-dimensional Lagrangian swarm model that enables the planar agents, modeled as point masses, to swarm whilst effectively avoiding each other and obstacles in the environment. A novel method, based on an extended Lyapunov approach, is used to construct the model. Importantly, the Lyapunov method ensures a form of practical stability that guarantees an emergent behavior, namely, a cohesive and wellspaced swarm with a constant arrangement of individuals about the swarm centroid. Computer simulations illustrate this basic feature of collective behavior. As an application, we show how multiple planar mobile unicycle-like robots swarm to eventually form patterns in which their velocities and orientations stabilize.
Abstract: Wireless sensor network is formed with the combination of sensor nodes and sink nodes. Recently Wireless sensor network has attracted attention of the research community. The main application of wireless sensor network is security from different attacks both for mass public and military. However securing these networks, by itself is a critical issue due to many constraints like limited energy, computational power and lower memory. Researchers working in this area have proposed a number of security techniques for this purpose. Still, more work needs to be done.In this paper we provide a detailed discussion on security in wireless sensor networks. This paper will help to identify different obstacles and requirements for security of wireless sensor networks as well as highlight weaknesses of existing techniques.
Abstract: This paper presents a robust method to detect obstacles in stereo images using shadow removal technique and color information. Stereo vision based obstacle detection is an algorithm that aims to detect and compute obstacle depth using stereo matching and disparity map. The proposed advanced method is divided into three phases, the first phase is detecting obstacles and removing shadows, the second one is matching and the last phase is depth computing. We propose a robust method for detecting obstacles in stereo images using a shadow removal technique based on color information in HIS space, at the first phase. In this paper we use Normalized Cross Correlation (NCC) function matching with a 5 × 5 window and prepare an empty matching table τ and start growing disparity components by drawing a seed s from S which is computed using canny edge detector, and adding it to τ. In this way we achieve higher performance than the previous works [2,17]. A fast stereo matching algorithm is proposed that visits only a small fraction of disparity space in order to find a semi-dense disparity map. It works by growing from a small set of correspondence seeds. The obstacle identified in phase one which appears in the disparity map of phase two enters to the third phase of depth computing. Finally, experimental results are presented to show the effectiveness of the proposed method.