Simulation system is charged with the strategy validation and dual team meets, and as the 2-
dimensional simulation platform for underwater robotic fish game, URWPGSim2D is the assigned platform
for Chinese underwater robot contest and Robot cup underwater program. By now on URWPGSim2D,
there is only static obstacles, thus short of changeableness. In order to improve the changeableness and
innovation of robotic fish contest, to extend the space for the programming of contest strategy, and to
increase the interest, this paper study the design of dynamic obstacles on URWPGSim2D, and design and
implement two kinds of dynamic obstacles, which are the evadible dynamic obstacle and the forcing
dribbling obstacle.
Dynamic analysis and condition assessment of rc building by varying material ...eSAT Journals
Abstract
In the present dissertation study, an SMRF building situated in seismic zone-III having G+ 10 storey has been considered for performing linear dynamic or response spectrum method of analysis, to achieve and compare various results such as storey drift, storey displacement for considered DCON-2 and DCON-3 load combinations as per IS: 1893-2002 (Part-I), all imposed load are considered as per IS 875:2000. Also the condition assessment of the building models through system identification approach and extract the modal identification parameters like frequency, damping, mode shapes. Furthermore spectral displacement, spectral velocity and spectral acceleration are obtained for various percentages of damping i.e., 0, 5 and 10, for all the considered SMRF building models. The overall dissertation flow has been carried out to perform linear dynamic analysis (response spectrum method) for the parameters ELCENTRO, using the finite element method based analytical software ETABS-15 version.
Keywords: Linear dynamic, Condition assessment, Material damping, Time dependent and Response spectrum
Dynamic analysis and condition assessment of rc building by varying material ...eSAT Journals
Abstract
In the present dissertation study, an SMRF building situated in seismic zone-III having G+ 10 storey has been considered for performing linear dynamic or response spectrum method of analysis, to achieve and compare various results such as storey drift, storey displacement for considered DCON-2 and DCON-3 load combinations as per IS: 1893-2002 (Part-I), all imposed load are considered as per IS 875:2000. Also the condition assessment of the building models through system identification approach and extract the modal identification parameters like frequency, damping, mode shapes. Furthermore spectral displacement, spectral velocity and spectral acceleration are obtained for various percentages of damping i.e., 0, 5 and 10, for all the considered SMRF building models. The overall dissertation flow has been carried out to perform linear dynamic analysis (response spectrum method) for the parameters ELCENTRO, using the finite element method based analytical software ETABS-15 version.
Dynamic analysis and condition assessment of rc building by varying material ...eSAT Journals
Abstract
In the present dissertation study, an SMRF building situated in seismic zone-III having G+ 10 storey has been considered for performing linear dynamic or response spectrum method of analysis, to achieve and compare various results such as storey drift, storey displacement for considered DCON-2 and DCON-3 load combinations as per IS: 1893-2002 (Part-I), all imposed load are considered as per IS 875:2000. Also the condition assessment of the building models through system identification approach and extract the modal identification parameters like frequency, damping, mode shapes. Furthermore spectral displacement, spectral velocity and spectral acceleration are obtained for various percentages of damping i.e., 0, 5 and 10, for all the considered SMRF building models. The overall dissertation flow has been carried out to perform linear dynamic analysis (response spectrum method) for the parameters ELCENTRO, using the finite element method based analytical software ETABS-15 version.
Keywords: Linear dynamic, Condition assessment, Material damping, Time dependent and Response spectrum
Dynamic analysis and condition assessment of rc building by varying material ...eSAT Journals
Abstract
In the present dissertation study, an SMRF building situated in seismic zone-III having G+ 10 storey has been considered for performing linear dynamic or response spectrum method of analysis, to achieve and compare various results such as storey drift, storey displacement for considered DCON-2 and DCON-3 load combinations as per IS: 1893-2002 (Part-I), all imposed load are considered as per IS 875:2000. Also the condition assessment of the building models through system identification approach and extract the modal identification parameters like frequency, damping, mode shapes. Furthermore spectral displacement, spectral velocity and spectral acceleration are obtained for various percentages of damping i.e., 0, 5 and 10, for all the considered SMRF building models. The overall dissertation flow has been carried out to perform linear dynamic analysis (response spectrum method) for the parameters ELCENTRO, using the finite element method based analytical software ETABS-15 version.
P AINTING T OOL C ONTROL AND S CENARIO FOR G ONDOLA - TYPED F ACADE M A...ijctcm
We have researched a gondola-typed building façade
maintenance robot system. Its main goal is to paint
reinforced concrete walls as fast and wide as possi
ble. We applied a horizontal array of painting spray nozzles which have uniform heights. In order to apply them to the gondola robot, a painting scenario is designed. Basically, when the gondola robot goes from the bottom to the top of the wall, wall shape
recognition is executed. While it goes down, the no
zzles are turned on and off in accordance with the
wallshape
Low cost NodeMcu based development water rocket measurement system applied to...TELKOMNIKA JOURNAL
Water rockets have become one of learning tools for STEM Education in schools. Generally water
rockets make in school activity have no parachute load, altitude, and velocity measurement. Rocket can go
any direction and also will cause hard collision to the ground that break the high speed rocket. It will take
time and need more cost to make a new one for students. This study propose the low cost NodeMcu
based water rocket measurement system to solve the problem. Altitude and velocity measurement are
added and deployment system to release the parachute to make water rocket fall to the ground smoothly.
Smartphone application used to monitor altitude and velocity of water rocket. Variables consist of water
volume and air pressure. Five experiments had been conducted and recorded. The result found that the
system could calculate Altitude, Velocity, and Deployment System also could release the parachute
automatically in Coasting Descent position.
ISEISMIC PERFORMANCE OF RC FRAMED BUILDINGS UNDER LINEAR DYNAMIC ANALYSISjcie...IAEME Publication
The construction of multi-storey buildings is increasing constantly all over the world. The
development of highly advanced structural system is mainly based on the quality of aesthetic
expression, structural efficiency, and geometric versatility. The selected structural system should be
such that it has to be effectively utilized for structural requirements. The unique geometrical
configuration of the diagrid structural systems have driven them to be used for high rise buildings
providing the structural efficiency and aesthetic potential. In this present work, four different
models of I section of a 30 storey RC Frame building with plan size 18 m × 18 m located in seismic
zone V have been considered for analysis. Steel diagrid structure of 2 storey and 6 storey models
and Infill wall model are analyzed and compared with conventional RC Frame model and is
studied using linear dynamic analysis. ETabs software is used for modeling and analysis of
structural members. Comparison of analysis results in terms of storey Displacement, Drift, Bending
Moment, Axial forces, Time period, Base shear is presented and the results obtained were
compared with those obtained from other models.
Car-Following Parameters by Means of Cellular Automata in the Case of EvacuationCSCJournals
This study is attention to the car-following model, an important part in the micro traffic flow. Different from Nagel–Schreckenberg’s studies in which car-following model without agent drivers and diligent ones, agent drivers and diligent ones are proposed in the car-following part in this work and lane-changing is also presented in the model. The impact of agent drivers and diligent ones under certain circumstances such as in the case of evacuation is considered. Based on simulation results, the relations between evacuation time and diligent drivers are obtained by using different amounts of agent drivers; comparison between previous (Nagel–Schreckenberg) and proposed model is also found in order to find the evacuation time. Besides, the effectiveness of reduction the evacuation time is presented for various agent drivers and diligent ones.
Overview of different techniques utilized in designing of a legged robotNikhil Koli
This paper focuses on the various techniques which are implemented to design a small scale legged robot. It specifies various parameters which play a vital role for designing of robot. It also provides the basic level analysis method which can be used to deal with calculation of force, generation of foot profile, calculating dimension of linkages and different method to help the robot to
navigate across rough terrains using sensors and various other algorithm or programs, which instantly optimises the foot profile of the robot to overcome any obstacle
Research Inventy : International Journal of Engineering and Science is published by the group of young academic and industrial researchers with 12 Issues per year. It is an online as well as print version open access journal that provides rapid publication (monthly) of articles in all areas of the subject such as: civil, mechanical, chemical, electronic and computer engineering as well as production and information technology. The Journal welcomes the submission of manuscripts that meet the general criteria of significance and scientific excellence. Papers will be published by rapid process within 20 days after acceptance and peer review process takes only 7 days. All articles published in Research Inventy will be peer-reviewed.
Research Inventy : International Journal of Engineering and Science is published by the group of young academic and industrial researchers with 12 Issues per year. It is an online as well as print version open access journal that provides rapid publication (monthly) of articles in all areas of the subject such as: civil, mechanical, chemical, electronic and computer engineering as well as production and information technology. The Journal welcomes the submission of manuscripts that meet the general criteria of significance and scientific excellence. Papers will be published by rapid process within 20 days after acceptance and peer review process takes only 7 days. All articles published in Research Inventy will be peer-reviewed.
Research Inventy : International Journal of Engineering and Science is published by the group of young academic and industrial researchers with 12 Issues per year. It is an online as well as print version open access journal that provides rapid publication (monthly) of articles in all areas of the subject such as: civil, mechanical, chemical, electronic and computer engineering as well as production and information technology. The Journal welcomes the submission of manuscripts that meet the general criteria of significance and scientific excellence. Papers will be published by rapid process within 20 days after acceptance and peer review process takes only 7 days. All articles published in Research Inventy will be peer-reviewed.
Technology Content Analysis with Technometric Theory Approach to Improve Perf...Nooria Sukmaningtyas
Radiologic installation be facilitated with medical equipment for supporting of health services in
investigation of disease. There are 3 (three) criteria technology of equipment: investigation with
sophisticated equipment (CT scans single slice), investigation with a medium-sized enterprises equipment
(general x-ray 300 mA / 125 KV) and simple equipment (Portable Dental x-ray 8mA /70 KV). In view of
contribution to the Hospital, Radiologic installation from 2008 until 2012 has decreased, the data as
follows: The year 2008 was 6.8 percent; in 2009 was 4.3 percent; in 2010 was 2.5 percent; in 2011 was
2.3 percent; and in 2012 was 2.6 percent.By using approach of technometric theory, the study measures
the significant contribution of each component of technology that consists of aspects: Technoware,
Humanware, Inforware, Orgaware in Radiologic Installation, and also want to know about the
sophistication of the technology which is used in indicators Technology contribution coefficien (TCC), so
factors that affect experienced performance result can be known, where TCC are: TCC High Technology
TCC_tt =0,490 if T_tt= 0,387 H= 0,519 I= 0,538 O=0,534 TCC Middle technology TCC_tm=0,443 if
T_tm=0,258 H=0,519 I=0,538 O=0,534TCC Simple technology TCC_ts =0,398 if T_ts=0,168 H=0,519
I=0,538 O=0,534If the value of component technology (T,H,I,O) is less than TCC, its means that
Radiologic Installation Unit is in decreasing phase, a condition that cannot be left, need the directors’s
action immediately to formulate the right and fast policies to protect it from lost. The final result of study is a
gap almost everywhere from the three technology component Humanware = 0,519, Inforware = 0,538,
Orgaware = 0,534, but the gap between most components in technology aspects Technoware (0,387,
0,258, 0,168), that means that development strategy of Radiologic Installation unit be prioritized on
increasing aspects Technoware (rejuvenation medical equipment).
Data Exchange Design with SDMX Format for Interoperability Statistical DataNooria Sukmaningtyas
Today’s concept of Open Government Data (OGD) for openness, transparency and ease of
access of data owned by government agencies becomes increasingly important. This initiative emerges
from the demand of data usersforthe data belongs to the government agencies. The data services
providing an easy access, cheap, fast, and interoperability are needed by the users and becomes
important indicator performance for respective government agencies. Statistical Data and Metadata
Exchange (SDMX) is a new standard format in the data dissemination activities particularly in the
exchange of statistical data and metadata via Internet. In this respect SDMX support the implementation of
OGD project. This paper is on the technical design, development and implementation of data and
metadata exchange service of statistical data using SDMX format to support interoperability data through
web services. Three results are proposed: (i) framework for standardization of structure of statistical
publications data model with SDMX; (ii) design architecture of data sharing model; and (iii) web service
implementation of data and metadata exchange service using Service Oriented Analysis and Design
(SOAD) method. Implementation at Statistics Indonesia (BPS) is chosen as a case study to prove the
design concept. It is shown through quantitative assessment and black box testing that the design
achieves its objective.
More Related Content
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P AINTING T OOL C ONTROL AND S CENARIO FOR G ONDOLA - TYPED F ACADE M A...ijctcm
We have researched a gondola-typed building façade
maintenance robot system. Its main goal is to paint
reinforced concrete walls as fast and wide as possi
ble. We applied a horizontal array of painting spray nozzles which have uniform heights. In order to apply them to the gondola robot, a painting scenario is designed. Basically, when the gondola robot goes from the bottom to the top of the wall, wall shape
recognition is executed. While it goes down, the no
zzles are turned on and off in accordance with the
wallshape
Low cost NodeMcu based development water rocket measurement system applied to...TELKOMNIKA JOURNAL
Water rockets have become one of learning tools for STEM Education in schools. Generally water
rockets make in school activity have no parachute load, altitude, and velocity measurement. Rocket can go
any direction and also will cause hard collision to the ground that break the high speed rocket. It will take
time and need more cost to make a new one for students. This study propose the low cost NodeMcu
based water rocket measurement system to solve the problem. Altitude and velocity measurement are
added and deployment system to release the parachute to make water rocket fall to the ground smoothly.
Smartphone application used to monitor altitude and velocity of water rocket. Variables consist of water
volume and air pressure. Five experiments had been conducted and recorded. The result found that the
system could calculate Altitude, Velocity, and Deployment System also could release the parachute
automatically in Coasting Descent position.
ISEISMIC PERFORMANCE OF RC FRAMED BUILDINGS UNDER LINEAR DYNAMIC ANALYSISjcie...IAEME Publication
The construction of multi-storey buildings is increasing constantly all over the world. The
development of highly advanced structural system is mainly based on the quality of aesthetic
expression, structural efficiency, and geometric versatility. The selected structural system should be
such that it has to be effectively utilized for structural requirements. The unique geometrical
configuration of the diagrid structural systems have driven them to be used for high rise buildings
providing the structural efficiency and aesthetic potential. In this present work, four different
models of I section of a 30 storey RC Frame building with plan size 18 m × 18 m located in seismic
zone V have been considered for analysis. Steel diagrid structure of 2 storey and 6 storey models
and Infill wall model are analyzed and compared with conventional RC Frame model and is
studied using linear dynamic analysis. ETabs software is used for modeling and analysis of
structural members. Comparison of analysis results in terms of storey Displacement, Drift, Bending
Moment, Axial forces, Time period, Base shear is presented and the results obtained were
compared with those obtained from other models.
Car-Following Parameters by Means of Cellular Automata in the Case of EvacuationCSCJournals
This study is attention to the car-following model, an important part in the micro traffic flow. Different from Nagel–Schreckenberg’s studies in which car-following model without agent drivers and diligent ones, agent drivers and diligent ones are proposed in the car-following part in this work and lane-changing is also presented in the model. The impact of agent drivers and diligent ones under certain circumstances such as in the case of evacuation is considered. Based on simulation results, the relations between evacuation time and diligent drivers are obtained by using different amounts of agent drivers; comparison between previous (Nagel–Schreckenberg) and proposed model is also found in order to find the evacuation time. Besides, the effectiveness of reduction the evacuation time is presented for various agent drivers and diligent ones.
Overview of different techniques utilized in designing of a legged robotNikhil Koli
This paper focuses on the various techniques which are implemented to design a small scale legged robot. It specifies various parameters which play a vital role for designing of robot. It also provides the basic level analysis method which can be used to deal with calculation of force, generation of foot profile, calculating dimension of linkages and different method to help the robot to
navigate across rough terrains using sensors and various other algorithm or programs, which instantly optimises the foot profile of the robot to overcome any obstacle
Research Inventy : International Journal of Engineering and Science is published by the group of young academic and industrial researchers with 12 Issues per year. It is an online as well as print version open access journal that provides rapid publication (monthly) of articles in all areas of the subject such as: civil, mechanical, chemical, electronic and computer engineering as well as production and information technology. The Journal welcomes the submission of manuscripts that meet the general criteria of significance and scientific excellence. Papers will be published by rapid process within 20 days after acceptance and peer review process takes only 7 days. All articles published in Research Inventy will be peer-reviewed.
Research Inventy : International Journal of Engineering and Science is published by the group of young academic and industrial researchers with 12 Issues per year. It is an online as well as print version open access journal that provides rapid publication (monthly) of articles in all areas of the subject such as: civil, mechanical, chemical, electronic and computer engineering as well as production and information technology. The Journal welcomes the submission of manuscripts that meet the general criteria of significance and scientific excellence. Papers will be published by rapid process within 20 days after acceptance and peer review process takes only 7 days. All articles published in Research Inventy will be peer-reviewed.
Research Inventy : International Journal of Engineering and Science is published by the group of young academic and industrial researchers with 12 Issues per year. It is an online as well as print version open access journal that provides rapid publication (monthly) of articles in all areas of the subject such as: civil, mechanical, chemical, electronic and computer engineering as well as production and information technology. The Journal welcomes the submission of manuscripts that meet the general criteria of significance and scientific excellence. Papers will be published by rapid process within 20 days after acceptance and peer review process takes only 7 days. All articles published in Research Inventy will be peer-reviewed.
Technology Content Analysis with Technometric Theory Approach to Improve Perf...Nooria Sukmaningtyas
Radiologic installation be facilitated with medical equipment for supporting of health services in
investigation of disease. There are 3 (three) criteria technology of equipment: investigation with
sophisticated equipment (CT scans single slice), investigation with a medium-sized enterprises equipment
(general x-ray 300 mA / 125 KV) and simple equipment (Portable Dental x-ray 8mA /70 KV). In view of
contribution to the Hospital, Radiologic installation from 2008 until 2012 has decreased, the data as
follows: The year 2008 was 6.8 percent; in 2009 was 4.3 percent; in 2010 was 2.5 percent; in 2011 was
2.3 percent; and in 2012 was 2.6 percent.By using approach of technometric theory, the study measures
the significant contribution of each component of technology that consists of aspects: Technoware,
Humanware, Inforware, Orgaware in Radiologic Installation, and also want to know about the
sophistication of the technology which is used in indicators Technology contribution coefficien (TCC), so
factors that affect experienced performance result can be known, where TCC are: TCC High Technology
TCC_tt =0,490 if T_tt= 0,387 H= 0,519 I= 0,538 O=0,534 TCC Middle technology TCC_tm=0,443 if
T_tm=0,258 H=0,519 I=0,538 O=0,534TCC Simple technology TCC_ts =0,398 if T_ts=0,168 H=0,519
I=0,538 O=0,534If the value of component technology (T,H,I,O) is less than TCC, its means that
Radiologic Installation Unit is in decreasing phase, a condition that cannot be left, need the directors’s
action immediately to formulate the right and fast policies to protect it from lost. The final result of study is a
gap almost everywhere from the three technology component Humanware = 0,519, Inforware = 0,538,
Orgaware = 0,534, but the gap between most components in technology aspects Technoware (0,387,
0,258, 0,168), that means that development strategy of Radiologic Installation unit be prioritized on
increasing aspects Technoware (rejuvenation medical equipment).
Data Exchange Design with SDMX Format for Interoperability Statistical DataNooria Sukmaningtyas
Today’s concept of Open Government Data (OGD) for openness, transparency and ease of
access of data owned by government agencies becomes increasingly important. This initiative emerges
from the demand of data usersforthe data belongs to the government agencies. The data services
providing an easy access, cheap, fast, and interoperability are needed by the users and becomes
important indicator performance for respective government agencies. Statistical Data and Metadata
Exchange (SDMX) is a new standard format in the data dissemination activities particularly in the
exchange of statistical data and metadata via Internet. In this respect SDMX support the implementation of
OGD project. This paper is on the technical design, development and implementation of data and
metadata exchange service of statistical data using SDMX format to support interoperability data through
web services. Three results are proposed: (i) framework for standardization of structure of statistical
publications data model with SDMX; (ii) design architecture of data sharing model; and (iii) web service
implementation of data and metadata exchange service using Service Oriented Analysis and Design
(SOAD) method. Implementation at Statistics Indonesia (BPS) is chosen as a case study to prove the
design concept. It is shown through quantitative assessment and black box testing that the design
achieves its objective.
The knowledge management is a model involving the information system in the knowledge
processing. “Tim Penyelesaian Kerugian Negara” (TPKN) is one of sources of information related to the
state loss settlement, so it needs the development of knowledge management system on the state loss
settlement to ease the users when looking for the references of knowledge as completely as possible,
accurately, and quickly. This research aims to develop the system of knowledge management on the state
loss in LAPAN (SIMAPKLA). The used research methodology is Knowledge Management System Life
Cycle (KMSLC). The tacit, explicit knowledge is taken from the experts and it is stored in the Knowledge
Base (KB). The design model uses the approach with the orientation of object and implementation with Yii
Framework and blackbox testing. The menu on this system includes home, about us, dictionary, news,
meeting schedulles, knowledge about state loss, e-document, progress, forum, and contact us. Based on a
series of tests, in the aspect of functionality, this system is suitable and useful to share knowledge and
know the development of state loss settlement.
Automatic Extraction of Diaphragm Motion and Respiratory Pattern from Time-se...Nooria Sukmaningtyas
Thoracic time-sequential MRI can be used to assess diaphragm motion pattern without exposing
radiation to subject. Clinicians may employ the motion to evaluate the severeness of chronic obstructive
pulmonary disease (COPD). This study proposed a novel method of diaphragm motion extraction method
on time-sequential thoracic MRI in sagittal plane. Otsu’s threshold and active contour algorithm are used to
obtain diaphragm boundary. An automatic diaphragm motion tracking and extraction of respiratory pattern
are also performed based on the diaphragm boundary. A total of 1200 frames time-sequential MRI in
sagittal plane was obtained for total of 15 subjects (8 healthy volunteers and 7 COPD patients). The
proposed method successfully extracts diaphragm motion and respiratory patterns for both healthy
volunteers and COPD patients.
A dual-frequency microstrip patch antennas has been presented and used for 802.11WLAN
applications. The antennas had been designed, simulated and parametrically studied in CST Microwave
studio. By introducing u-slot, dual-band operation with its operating mode centered at frequency 2.4GHz,
3.65GHz and 5.2GHz had been obtained. The gain and directivity had been improved by adjusting the
parameters of the antennas. The gain of the proposed designs was 6.019dBi, 4.04dBi and 6.22dBi and
directivity was 6.02dBi, 4.05dBi and 6.22dBi at resonant frequencies 2.4GHz, 3.6GHz and 5.2GHz
respectively. The patch antennas had been proposed to be used in portable devices that require
miniaturized constituent parts.
The Detection of Straight and Slant Wood Fiber through Slop Angle Fiber FeatureNooria Sukmaningtyas
Quality control is one of important process that can not be avoided in industry. Image processing
technique is required to distinguish the quality of wood. If it can be done automatically by the computer, it
will be very helpful. This paper discusses the detection of straight and slant wood fiber to distinguish its
quality. This paper proposes an algorithm by using only two features i.e. mean (average value of slop
angle fiber) and maximumangle (the maximum value of slop angle fiber). Then the classification method is
used by tresholding. The result shows the performance is achieved on accuracy 79.2%
Active Infrared Night Vision System of Agricultural VehiclesNooria Sukmaningtyas
Active infrared night vision system was significant for night driving and it has been greatly used on
limousine car. Design active infrared night vision system for agricultural vehicles greatly improved the night
vision of them and it was an inevitable trend. Comparing parameters of various night vision systems and
designing active infrared night vision system of agricultural vehicles was significant for improving active
security of agricultural vehicles working at nighttime. By analyzing the infrared night vision system basic
parameters determined the structure form and basic parameters, calculated the infrared light wave width
and emission power to choose each components, designed active infrared night vision system’s structure
and determined parameters of agricultural vehicles.
Robot Three Dimensional Space Path-planning Applying the Improved Ant Colony ...Nooria Sukmaningtyas
To make robot avoid obstacles in 3D space, the Pheromone of Ant Colony Optimization (ACO) in
Fuzzy Control Updating is put forward, the Pheromone Updating value varies with The number of iterations
and the path-planning length by each ant . the improved Transition Probability Function is also proposed,
which makes more sense for each ant choosing next feasible point .This paper firstly, describes the Robot
Workspace Modeling and its path-planning basic method, which is followed by introducing the improved
designing of the Transition Probability Function and the method of Pheromone Fuzzy Control Updating of
ACO in detail. At the same time, the comparison of optimization between the pre-improved ACO and the
improved ACO is made. The simulation result verifies that the improved ACO is feasible and available.
Research on a Kind of PLC Based Fuzzy-PID Controller with Adjustable FactorNooria Sukmaningtyas
A kind of fuzzy-PID controller with adjustable factor is designed in this paper. Scale factor’s selfadjust
will come true. Fuzzy control algorithm is finished in STEP7 software, and then downloaded in S7-
300 PLC. WinCC software will be used to control the change-trend in real time. Data communication
between S7-300 PLC and WinCC is achieved by MPI. The research shows that this fuzzy-PID controller
has better robust capability and stability. It’s an effective method in controlling complex long time-varying
delay systems.
This paper proposed a nonlinear robust control for spacecraft attitude based on passivity and
disturbance suppression vector. The spacecraft model was described using quaternion. The control law
introduced the suppression vector of external disturbances and had no information related to the system
parameters. The desired performance of spacecraft attitude control could be achieved using the designed
control law. And stability conditions of the nonlinear robust control for spacecraft attitude were given. The
stability could be proved by applying Lyapunov approach. The verification of the proposed attitude control
method was performed through a series of simulations. The numerical results showed the effectiveness of
the proposed control method in controlling the spacecraft attitude in the presence of external disturbances.
The main benefit of the proposed attitude control method does not need angular velocity measurement
and has its robustness against model uncertainties and external disturbances.
Remote Monitoring System for Communication Base Based on Short MessageNooria Sukmaningtyas
The automatic monitoring system of communication base which is an important means to realize
modernization of mobile communication base station management. In this paper, we implement a
monitoring system for communication base with three essential functions which are telemetry, remote
control and communication. In this system, data acquisition unit, data transmit unit and monitoring centre
unit are combined to form this monitoring system. The system can check the communication base status
anytime through GSM SMS (short message service), and can send predefined command to perform
remote data collection and monitoring in the special conditions. It is suitable especially for the alarm of
unusual situation, the monitoring of environmental information and entrance guard information. The paper,
firstly, proposes the architecture of the monitoring system; secondly, proposes the terminal of monitoring
system. The data collection terminal is studied and designed, including hardware design based on
embedded system and software design. Finally, presents implmentation and results. The monitoring
system can improve the integrity, reliability, flexibility and intellectuality of monitoring system. The system
with modular structure, which is low-cost, fitter and easier to move and operate, can be expanded
according to practical need and is reliable and effective through field test.
Tele-Robotic Assisted Dental Implant Surgery with Virtual Force FeedbackNooria Sukmaningtyas
The dental implant surgical applications full of risk because of the complex anatomical
architecture of craio-maxillofacial area. Therefore, the surgeons move towards computer-aided planning
for surgeries and then implementation using robotic assisted tele-operated techniques. This study divided
into four main parts. The first part is developed by computer-aided surgical planning by image modalities.
The second part is based on Virtual Surgical Environment through virtual force feedback haptic device.
The third part is implemented the experimental surgery by integrating the prototype surgical manipulator
with the haptic device poses using inverse kinematics method. The fourth part based on monitoring the
robotic manipulator pose by using image guided navigation system to calculate the position error of the
surgical manipulator. Thus, this tele-robotic system is able to comprehend the sense of complete practice,
improve skills and gain experience of the surgeon during the surgery. Finally, the experimental outcomes
show in satisfactory boundaries.
This paper proposes an adaptation mechanism based on adaptation planning graph for servicebased
business processes. First, a three-layer representation model of service-based business process is
introduced. Second, control-flow patterns of tasks, goal, logic model of service-based business process
and adaptation planning graph are introduced to enforce reliability of composite web services at run-time.
Finally, a simulation example of adaptation in service-based business processes is given. Simulations
prove that this approach can efficiently guarantee the reliability of composite services at run-time.
Review on Islanding Detection Methods for Photovoltaic InverterNooria Sukmaningtyas
Solar power generation, which is regarded as an ideal environment-friendly manner for power
generation, is getting more and more attention. When photovoltaic inverter is connected to the grid, the
island effect is a special problem to confront. This paper briefly analyzes the island effects and makes a
summary of both domestic and external research progress concerning islanding detection methods; the
islanding detection methods can be divided into two classes: one is grid-side detection; the other is local
detection. The local detection is generally divided into passive methods and active methods. The theory of
advantages and disadvantages of those methods are briefly introduced in this paper. At the end of the
paper, to deal with the disadvantages of those methods that are mentioned, it proposes the research
direction for deeper study of islanding detection methods.
Stabilizing Planar Inverted Pendulum System Based on Fuzzy Nine-point ControllerNooria Sukmaningtyas
In order to stabilize planar inverted pendulum, after analyzing the physical characteristics of the
planar inverted pendulum system, a pendulum nine-point controller and a car nine-point controller for Xaxis
and Y-axis were designed respectively. Then a fuzzy coordinator was designed using the fuzzy
control theory based on the priority of those two controllers, and the priority level of the pendulum is higher
than the car. Thus, the control tasks of each controller in each axis were harmonized successfully. The
designed control strategy did not depend on mathematical model of the system; it depended on the control
experience of people or the control experts. The compared experiments showed that the control strategy
was easy and effective, what was’s more; it had a very good robust feature.
Gross Error Elimination Based on the Polynomial Least Square Method in Integr...Nooria Sukmaningtyas
The measurement data of parameter in the electrical equipment contains many noises in subway
integrated monitoring system. To eliminate the impact of gross error in the measurement data, a
polynomial least square curve fitting algorithm is used in this paper. Based on the Rajda criterion, the
algorithm gives the variance estimation of the noises, and then uses dynamic threshold to detect and
replace the measurement data with gross error by statistical estimation. Finally, a data processing
procedure has been presented to deal with the gross error. The practical application indicates that the
proposed algorithm can effectively eliminate the gross error in many types of measurement signals so as
to ensure the reliability of the monitoring system.
Design on the Time-domain Airborne Electromagnetic Weak Signal Data Acquisiti...Nooria Sukmaningtyas
According to principle of transient electromagnetic method as well as its signal characteristics,
this paper designed and implemented a time-domain airborne electromagnetic weak signal data
acquisition system. With the use of the floating-point amplification technology, the system amplifies the
weak transient electromagnetic signal dynamically. CPLD and DSP were used as the decoding control
circuit and the main controller for processing the sampled data, respectively. The transient electromagnetic
signal acquisition system, which was designed with a dynamic range up to 144dB and a sampling rate up
to 100 kHz, meets the requirements of the high sampling rate with high precision and it has been applied in
the time-domain fixed-wing airborne electromagnetic mineral exploration.
INS/GPS integrated navigation system is studied in this paper for the hypersonic UAV in order to
satisfy the precise guidance requirements of hypersonic UAV and in response to the defects while the
inertial navigation system (INS) and the global positioning system (GPS) are being applied separately. The
information of UAV including position, velocity and attitude can be obtained by using INS and GPS
respectively after generating a reference trajectory. The corresponding errors of two navigation systems
can be obtained through comparing the navigation information of the above two guidance systems.
Kalman filter is designed to estimate the navigation errors and then the navigation information of INS are
corrected. The non-equivalence relationship between the platform misalignment angle and attitude error
angle are considered so that the navigation accuracy is further improved. The Simulink simulation results
show that INS/GPS integrated navigation system can help to achieve higher accuracy and better antiinterference
ability than INS navigation system and this system can also satisfy the navigation accuracy
requirements of hypersonic UAV.
Research on Space Target Recognition Algorithm Based on Empirical Mode Decomp...Nooria Sukmaningtyas
The space target recognition algorithm, which is based on the time series of radar cross section
(RCS), is proposed in this paper to solve the problems of space target recognition in the active radar
system. In the algorithm, EMD method is applied for the first time to extract the eigen of RCS time series.
The normalized instantaneous frequencies of high-frequency intrinsic mode functions obtained by EMD are
used as the eigen values for the recognition, and an effective target recognition criterion is established.
The effectiveness and the stability of the algorithm are verified by both simulation data and real data. In
addition, the algorithm could reduce the estimation bias of RCS caused by inaccurate evaluation, and it is
of great significance in promoting the target recognition ability of narrow-band radar in practice.
With the expanding of database of the watch list of anti-money laundering, improving the speed in
matching between the watch list and the database of account holders and clients’ transaction is especially
important. This paper proposes an improved AC-BM Algorithm, a matching algorithm of subsection, to
improve the speed of matching. Experiment results show the time performance of the improved algorithm
is better than traditional BM algorithm, AC algorithm and the AC-BM algorithm. It can improve the
efficiency of on-line monitoring of anti-money laundering.
Sachpazis:Terzaghi Bearing Capacity Estimation in simple terms with Calculati...Dr.Costas Sachpazis
Terzaghi's soil bearing capacity theory, developed by Karl Terzaghi, is a fundamental principle in geotechnical engineering used to determine the bearing capacity of shallow foundations. This theory provides a method to calculate the ultimate bearing capacity of soil, which is the maximum load per unit area that the soil can support without undergoing shear failure. The Calculation HTML Code included.
Final project report on grocery store management system..pdfKamal Acharya
In today’s fast-changing business environment, it’s extremely important to be able to respond to client needs in the most effective and timely manner. If your customers wish to see your business online and have instant access to your products or services.
Online Grocery Store is an e-commerce website, which retails various grocery products. This project allows viewing various products available enables registered users to purchase desired products instantly using Paytm, UPI payment processor (Instant Pay) and also can place order by using Cash on Delivery (Pay Later) option. This project provides an easy access to Administrators and Managers to view orders placed using Pay Later and Instant Pay options.
In order to develop an e-commerce website, a number of Technologies must be studied and understood. These include multi-tiered architecture, server and client-side scripting techniques, implementation technologies, programming language (such as PHP, HTML, CSS, JavaScript) and MySQL relational databases. This is a project with the objective to develop a basic website where a consumer is provided with a shopping cart website and also to know about the technologies used to develop such a website.
This document will discuss each of the underlying technologies to create and implement an e- commerce website.
Immunizing Image Classifiers Against Localized Adversary Attacksgerogepatton
This paper addresses the vulnerability of deep learning models, particularly convolutional neural networks
(CNN)s, to adversarial attacks and presents a proactive training technique designed to counter them. We
introduce a novel volumization algorithm, which transforms 2D images into 3D volumetric representations.
When combined with 3D convolution and deep curriculum learning optimization (CLO), itsignificantly improves
the immunity of models against localized universal attacks by up to 40%. We evaluate our proposed approach
using contemporary CNN architectures and the modified Canadian Institute for Advanced Research (CIFAR-10
and CIFAR-100) and ImageNet Large Scale Visual Recognition Challenge (ILSVRC12) datasets, showcasing
accuracy improvements over previous techniques. The results indicate that the combination of the volumetric
input and curriculum learning holds significant promise for mitigating adversarial attacks without necessitating
adversary training.
Cosmetic shop management system project report.pdfKamal Acharya
Buying new cosmetic products is difficult. It can even be scary for those who have sensitive skin and are prone to skin trouble. The information needed to alleviate this problem is on the back of each product, but it's thought to interpret those ingredient lists unless you have a background in chemistry.
Instead of buying and hoping for the best, we can use data science to help us predict which products may be good fits for us. It includes various function programs to do the above mentioned tasks.
Data file handling has been effectively used in the program.
The automated cosmetic shop management system should deal with the automation of general workflow and administration process of the shop. The main processes of the system focus on customer's request where the system is able to search the most appropriate products and deliver it to the customers. It should help the employees to quickly identify the list of cosmetic product that have reached the minimum quantity and also keep a track of expired date for each cosmetic product. It should help the employees to find the rack number in which the product is placed.It is also Faster and more efficient way.
Explore the innovative world of trenchless pipe repair with our comprehensive guide, "The Benefits and Techniques of Trenchless Pipe Repair." This document delves into the modern methods of repairing underground pipes without the need for extensive excavation, highlighting the numerous advantages and the latest techniques used in the industry.
Learn about the cost savings, reduced environmental impact, and minimal disruption associated with trenchless technology. Discover detailed explanations of popular techniques such as pipe bursting, cured-in-place pipe (CIPP) lining, and directional drilling. Understand how these methods can be applied to various types of infrastructure, from residential plumbing to large-scale municipal systems.
Ideal for homeowners, contractors, engineers, and anyone interested in modern plumbing solutions, this guide provides valuable insights into why trenchless pipe repair is becoming the preferred choice for pipe rehabilitation. Stay informed about the latest advancements and best practices in the field.
Event Management System Vb Net Project Report.pdfKamal Acharya
In present era, the scopes of information technology growing with a very fast .We do not see any are untouched from this industry. The scope of information technology has become wider includes: Business and industry. Household Business, Communication, Education, Entertainment, Science, Medicine, Engineering, Distance Learning, Weather Forecasting. Carrier Searching and so on.
My project named “Event Management System” is software that store and maintained all events coordinated in college. It also helpful to print related reports. My project will help to record the events coordinated by faculties with their Name, Event subject, date & details in an efficient & effective ways.
In my system we have to make a system by which a user can record all events coordinated by a particular faculty. In our proposed system some more featured are added which differs it from the existing system such as security.
Saudi Arabia stands as a titan in the global energy landscape, renowned for its abundant oil and gas resources. It's the largest exporter of petroleum and holds some of the world's most significant reserves. Let's delve into the top 10 oil and gas projects shaping Saudi Arabia's energy future in 2024.
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Figure 1. Static obstacle
2. Design Mentality of Dynamic Obstacle
Dynamic obstacles can move around, and their color, size, location, and velocity can be
changed. According to their velocity and move track, the obstacles can be divided into random
ones and fixed ones. To random dynamic obstacle, we can set its velocity and track, thus
obstacle will lack of predict, and thus induce more uncontrollability into contest strategy
programming, which will finally make contest more depend on luck. With the fixed dynamic
obstacle, the player can correctly control the move parameters of obstacle in order to avoid
obstacle, and even take advantage of the obstacle to start an attack, thus can further extend the
programming space of contest strategy. Both the size and velocity of dynamic obstacles can be
set by the player, thus to increase the variability and portability of obstacles in different contests.
In the view of programmers, the dynamic obstacles can be set as evadable ones or forcibly
dribbling ones, thus these obstacles can holdback certain behaviors at one hand, and can
protect certain target at the other hand. Therefore, this paper studies the designing dynamic
obstacles of fixed track and velocity, and designs two kinds of dynamics, which are evadable
ones and strong transport ones respectively. We will introduce the relative design as follow.
2.1. Design of Evadable Dynamic Obstacle
Evadible dynamic obstacle is obstacle that robot fish need to avoid from. The distinct
characteristic of the evadable dynamic obstacle is that, both the offense and the defense side
should avoid the obstacle. Taking the 2v2 ball fight (shown in Figure 2) as the example, in front
of the gate, we can set one rectangular obstacle, thus if the offense side want to goal, they must
fully study the moving rule of the obstacle, and take advantage of a good chance, thus lest the
going ball be push away by the long margin of the obstacle. And similarly, once the goal
success, the defense side must fish out the ball and at same time avoid the rectangle obstacles,
otherwise, the ball will be push back by the short margin of the obstacle.
Relatively, the defense side has more advantage, since it only need to avoid the short
side of margin, and it can push the ball in the scope of obstacle’s long margin, then wait the
obstacle to push away the ball, thus to fulfill the defense successfully.
Figure 2. Dynamic obstacle in the ball fight
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2.2. Design of Forcibly Dribbling Obstacle
Forcibly dribbling obstacle are those that can be used in the dribbling, and its distinct
characteristic is that, between dynamic obstacles there exist some angle, thus it is easy to
dribble the ball away, and the direction of dribbling is favor to one side of the contest. As shown
in Figure 5, in the contest field of 5vs5 polo, near the top and bottom bounds, some dynamic
obstacles with V-like shape are added in. these obstacles periodically and horizontally move
from the back to the former field. And taking the V-like obstacles near the top bound, when the
obstacle move from the left to the right, the shape of V make that in case the ball move into its
moving scope, the ball will get into the corner of V, and be pushed from the back of the left
player to the former field of the right player, thus give some convenience for the left player to
start a further attack. Similarly, the obstacles near the bottom bound are favor for the right
player to start its attack. Besides this, it is worth to mention that of the obstacles, the attack
characteristic is higher than the defense. Because of the V-like corner, whenever one ball is
clipped, it is difficult to fish it off the inner angle of the obstacle, so it is easy to hold the ball. On
the other hand, contrarily, at the back of the V-like obstacle, it is very difficult to hold the ball,
and at most only can pop the ball to the direction of defense. So, the left player must do the best
to make use of the inner angle of the upper obstacles, thus to start an attack, but not to make
use the back of the bottom obstacles for defense.
Figure 3. Dynamic obstacles in the 5vs5 Polo
3. Implementation of Dynamic Obstacle
Adding dynamic obstacles will affect many platform modules, such as the collision
process module, the game designing module, and the environment painting module.
3.1. Modeling Ideas and Implementation of Dynamic Obstacle
Compared with static obstacle, besides color, quality, coordinate and Vertex, for
supporting dynamic movement, in the model of dynamic obstacle there should add in some new
properties, for example, indication of moving status, angular velocity, line velocity, circulation
period. And at the same time, for the dynamic obstacle we should define constructor method
and the dynamic Assignment method related to properties such as velocity, quality, thus for
code reusing, object of dynamic obstacle can inherit its farther class, the static dynamic.
We can take two kinds of method to implement the circular movement of dynamic
obstacles. The first kind of method is according to the critical values of time, such as simulation
period, the angular velocity of switching, and the direction of line velocity. The other kind of
method is according to the critical values of coordinate, when obstacle enter into the scope of
certain coordinates, the line velocity and angular velocity will be switched at once. When the
acceleration is 0, the first kind of method is more convenient and accuracy for motion
controlling.
Using the object-orientation technology, we encapsulate dynamic obstacle as class
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Rectangular Dynamic, in which we implement two interfaces, which are IC loneable and Idss
Serializable, thus to support the serialized communication between objects. In Rectangular
Dynamic, properties include the Name, the Indication byte which shows if allow to delete, the
Vertex, and Color of one obstacle object. The constructor of Rectangular Dynamic is given
below, and for all the parameters, we give detail introduction.
In the implementation of the circular movement, we use one period count function, and
use variable CircleTimes to store the period number of one cycle, use TimesCouter as the
counter, which is added 1 after one cycle. When it is equal to the predefined CircleTimes, the
moving direction of dynamic obstacle will be changed, and Times Couter will be reset to zero,
and the next move cycle will be started.
/// <summary>
/// the base class of rectangle obstacle in the simulated field
/// </summary>
public class RectangularDynamic : ICloneable, IDssSerializable
{
/// the name of obstacle
public string Name;
/// if the object allow to be deleted
/// in the initiation, value of IsDeletionAllowed is assigned as false
public bool IsDeletionAllowed;
/// the non-parameter constructor of obstacle
public RectangularDynamic()
{
SetRectangularDynamic();
for (int i = 0; i < 4; i++)
{// for initializing the four vertex of the rectangle
PolygonVertices.Add(new xna.Vector3(0, 0, 0));
}
}
/// the constructor with parameter
/// </summary>
/// <param name="strName">name of the rectangle obstacle </param>
/// <param name="positionMm">location of rectangle obstacle(in the field coordinate, the
unit is mm)</param>
/// <param name="colorBorder">color of rectangle obstacle </param>
/// <param name="colorFilled">color used to fill the rectangle</param>
/// <param name="borderWithPix">width of rectangle obstacle(pixel) </param>
/// <param name="lengthMm">lengthe rectangle obstacle(mm)</param>
/// <param name="widthMm"> width of rectangle obstacle(mm)</param>
/// <param name="directionDeg">direction of width of rectangle obstacle(unit is
rad)</param>
/// <param name="velocityMmPs">current velocity (mm/s)</param>
/// <param name="velocityDirectionRad"> current backup direction(rad [ , ] </param>
/// <param name="angularVelocityRadPs">current angular velocity( rad/s)</param>
/// <param name="circleTimes">period number in one cycle</param>
public RectangularDynamic(string strName, xna.Vector3 positionMm, Color colorBorder,
Color colorFilled, int borderWithPix, int lengthMm, int widthMm, float directionDeg, float
velocityMmPs, float velocityDirectionRad, float angularVelocityRadPs,int circleTimes)
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{
Name = strName;
PositionMm = positionMm;
ColorBorder = colorBorder;
ColorFilled = colorFilled;
BorderWidthPix = borderWithPix;
LengthMm = lengthMm;
WidthMm = widthMm;
DirectionRad = xna.MathHelper.ToRadians(directionDeg);
IsDeletionAllowed = true; // allowing delete by default
VelocityMmPs = velocityMmPs;
VelocityDirectionRad = velocityDirectionRad;
AngularVelocityRadPs = angularVelocityRadPs;
CircleTimes = circleTimes;
TimesCouter = CircleTimes;//initialized value of the counter
}
3.2. Realization of Collision Process Module
Collision process is more common in 2-dimensional and 2-dimensional games, nearly
all the current popular network game can not do without collision detect. In the virtual world,
when reach at a wall or obstacle, the person must stop, not pass through. When two light
objects collide with each other, both of the two will be popped away, not pass through each
other, and when Deformable objects collide with each other, the result will be different with the
collision strength.
For example, the efforts of collision with iron sheet and with sponge sheet are different.
And collision at different angle the effect will also be different two. From this we can see that,
only after adding collision process, the game can be more really.
The key task in Collision detect is to prevent the pass through between object. Based
on computer graphics, combing reasonable time and special detecting algorithm, we can
prevent the collision and passing through.
There are many kinds of collision modeling methods we can adopt, of which the main
parameters are the shape, material, and accuracy of the modeled object. By now, the always
used collision modeling methods are that of spatial decomposition [7], of layered Bounding
Volume [8], of bintree [9], and that of quality-spring [10]. In the early year of collision detect, the
most usually used method is of spatial decomposition, which represent the object by many cell
of equivalent volume [11], which is valid only when the object is equably distributed. When there
are more than one object in the field and distances between the object are short, there need to
iteratively partition the field into smaller cells, thus will induce more consume of computation
time and storage. Lately, along with the development of computer graphics, collision modeling
method of layered Bounding Volume obtained broad application, since by this method, no
matter the objects are rigid, or with complicated boundaries, using method of layered Bounding
Volume both can well enwrap the detected object, and according to requirement of the detection
accuracy, it can modify the model compactness to meet platform requirement. Compared with
method of spatial decomposition, method of layered Bounding Volume can be implemented
more validly, with more less consume of computation resources. Since on the current 2-
dimensional robot fish simulation platforms, the environmental information and simulated object
include border environment, obstacles, simulation polo, simulated robot fish, and et al. In which,
all the first three are regular and ametabolic object, so, using the simple Bounding Volume can
not only simulate the collision completely, but improve platform efficiency also.
Bounding Volume takes certain space in the 2-dimensional plane, and can enwrap one
or more than one object of irregular shape. The main idea of Bounding Volume is to describe
the more complicated object by Bounding Volumes, which of some simple geometrical shape,
so, we only need to detect Bounding Volumes. The basic kinds of Bounding Volumes are
Sphere(S), AABB (Axis-aligned Bounding Box), OBB (Oriented Bounding Box), K-Dop (K-
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direction Discrete Orientation Polytope), Convex Shell (CS) and et al., which are shown in
Figure 4.
According to different requirements of modeled object, and by synthetically comparing
the expected characteristics of Bounding Volume, we can select one from different Bounding
Volume. Here the expected characteristics of Bounding Volume include the following five.
(1) Resources consumption in intersectant test
(2) Simulation compactness
(3) Computational complex
(4) Complicated degree of circumrotation and shape transformation
(5) Occupancy rate of EMS memory
Figure 4. Sketch map of Bounding Volumes [12]
Among Bounding Volumes in the above figure, the complicated degree increases from
the left to the right, and there is the same of modeling accuracy. In the five Bounding Volumes,
the simplest is Sphere, of which, the stored information is least, the detection and condition is
simplest, and thus for fast collision detection. Except Sphere, all the others have certain
complication and construction condition, below give further analysis as to the expectation
characteristics of other 4 Bounding Volumes.
(1) AABB
In research history of collision detection, usage of AABB is the longest and widest. The
definition of AABB is the smallest rectangle, which encloses one given object, and parallel the
coordinate axes. It is very easy to construct AABB, in which we only need to record the corner
coordinates, thus, to an AABB Bounding Volume, only 6 float data need to be stored, so the
computation and diction of this kind of Bounding Volume is easier. Of course, its demerits are
clearer as well as, since the compactness of AABB is relatively worse, especially when AABB
enclosing one long and narrow object which is located along with the anti-diagonal direction of
AABB, at this case, the redundant space is very large, and will lead to a mass of redundant
Bounding Volume detection.
(2) OBB
OBB is proposed based on AABB. The main difference between OBB and AABB is
whether the axis direction of Bounding Volume can be changed. OBB is the smallest rectangle
enclosing object whose relative coordinate axis is at arbitrary direction. Construction of OBB is
relative difficult, in which it needs to find out the optimal direction of OBB axis, besides needs to
store coordinate extremum, it also needs to record the floor coordinates of axis direction, thus
both storage and detection complication are higher. The merit of OBB is that model
compactness is improved by sacrificing storage, especially, when model rigid object whose axis
is transformable, we only need to modify the axis direction.
(3) K-Dop
K-Dop of one object is a convex wrap which enclose the object, and normal vectors of
K-Dop’s surfaces are all from one fixed direction. This make the construction difficulty and
detection complication is medial, and modeling compactness is better, and the storage increase
with K. When object take place rotation, by method of K-Dop it need to update the corner
coordinates, just this will induce some computations, but if using some kinds of optimization, the
efficiency of K-Dop can be improved largely.
For summary, Table 1 shows the validation of all the basic models by comparing their
five expectation characteristics.
Sphere AABB OBB K-Dop CS
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Table 1. Comparison of basic Bounding Volumes
Expectation characteristics Comparison result
Resources consumption in intersect test
K-Dop>OBB>
AABB>Sphere
Simulation compactness
K-Dop>OBB>
AABB>Sphere
Computational complex
OBB>K-Dop>
AABB>Sphere
Complicated degree of rotation and shape
transformation
OBB>K-Dop>
AABB>Sphere
Occupancy rate of EMS memory
K-Dop>OBB>
AABB>Sphere
Abiding by the above analysis, we can model all the objects on the URWPGSim2D, the
relative modeling modes are listed in Table 2.
Table 2. Modeling types for object on URWPGSim2D (not including robot fish)
Polo Pool border gate Circle obstacle Rectangle obstacle
model Sphere Line AABB Sphere OBB
characteristic dynamic static static static/dynamic static/dynamic
Since the border of URWPGSim2D is a closed rectangle, and all the object are included
in the rectangle, so the border is modeled as 4 lines, which parallel the x and y coordinate axes
respectively, thus to make convenience for the later collision detection. By now, on
URWPGSim2D, obstacles have shape of circle of rectangle, and are divided into dynamic ones
and static ones. To circle obstacles, whether dynamic or static, by Sphere model already can
meeting the requirement of collision detection. To dynamic rectangle obstacles, since their axes
direction and shape will not change, so by OBB model can perform more accurate collision
detection.
On URWPGSim2D, the simulation period is set as 100ms(10-1s), in each period, all the
collisions of all the objects must be detected. Since even under ideal condition, there are at
least 7 to 8 objects, and besides this, the algorithm is always complicated, thus will induce more
loads in URWPGSim2D running.
On the 2-dimensional simulation platform of robotic fish, main objects are included in.
Although in actual scene, main collisions can take place at the same time. But in computer
processing, the collisions are processed serially, that is to say, at each time slice, only one
collision is detected, so, when more than one objects have taken place collision, there need to
given the priority order to each collision according to visional effect and platform requirement
[13-14]. On URWPGSim2D, in the increasing order of collision priority, the first one is the
collision of obstacle with robotic fish of the polo, then the collision between robotic fishes, the
one between robot fish and the polo, and at last the one between field boundary and robotic fish
and the polo. Concretely, from the view of vision effect, all the objects should locate within the
pool, thus the collision between the dynamic object and the pool boundary has the highest
priority, so we need to detect it firstly, and contrarily, collision between the dynamic obstacle and
other dynamic object has the lowest priority, so we only need to detect it at last. Since adding
dynamic obstacle will induce some influence on the collision process module, so the dynamic
obstacle should provide some essential parameters to the process module, which describe the
current collision status, the circumcircle model (which is the smallest circle that can enwrap the
dynamic obstacle), and all the corner of dynamic obstacle.
We define all the parameters as follow.
/// the current collision status public CollisionType Collision;
/// the backup of current collision status public CollisionType PreCollision;
/// the parameters of collision detect
/// radius of the circumcircle( the unit is mm) public int CircumcircleRadiusMm;
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/// corner list of obstacle rectangle, in which the order is the top-left, top-right,left-bottom, right-
bottom, and all the unit is mm
public List<xna.Vector3> PolygonVertices = new List<xna.Vector3>(4);
the length, width, direction, and border thickness are defaultly given out by method Set
Rectangular Dynamic (), as an example, the following Set Rectangular Dynamic () constructs a
dynamic obstacle of 100 mm length and width, at horizon direction, and of 0 border thickness.
/// set default parameters to the dynamic parameter
public void SetRectangularDynamic()
{
LengthMm = 100; // default lengthe
WidthMm = 100; // default width
DirectionRad = 0; // default direciton
BorderWidthPix = 0; // default border thickness
}
Afer setting the parameters as above, method Calculate Collision Detection Paras ()
can be called to compute the current circumcircle radius and 4 corners of the dynamic
obstacle’s rectangle. The detailed code of Calculate Collision Detection Paras () is listed below,
in which variable PositionMmis the center of obstacle.
/// can compute the collision parameter and is called by constructor of derived class.
public void CalculateCollisionDetectionParas()
{
///to calculate circumcircle radius CircumcircleRadiusMm = (int)Math.Sqrt(LengthMm *
LengthMm + WidthMm * WidthMm) / 2;
float sine = (float)Math.Sin(DirectionRad);
float cosine = (float)Math.Cos(DirectionRad);
/// to calculate all the corner of obstacle’s rectangle
PolygonVertices[0] = new xna.Vector3(PositionMm.X - LengthMm * cosine / 2 + WidthMm
* sine / 2, 0, PositionMm.Z - LengthMm * sine / 2 - WidthMm * cosine / 2);
PolygonVertices[1] = new xna.Vector3(PositionMm.X + LengthMm * cosine / 2 +
WidthMm * sine / 2, 0, PositionMm.Z + LengthMm * sine / 2 - WidthMm * cosine / 2);
PolygonVertices[2] = new xna.Vector3(PositionMm.X + LengthMm * cosine / 2 -
WidthMm * sine / 2, 0, PositionMm.Z + LengthMm * sine / 2 + WidthMm * cosine / 2);
PolygonVertices[3] = new xna.Vector3(PositionMm.X - LengthMm * cosine / 2 -
WidthMm * sine / 2, 0, PositionMm.Z - LengthMm * sine / 2 + WidthMm * cosine / 2);
}
3.3. Realization of Obstacle Painting Module
Since dynamic obstacle is always in movement, its location and shape should be
updated in each period. The conditions under which all the obstacles related to current
simulation mission should be reset to the default location are listed as below:
The current program is restarted;
The simulation mission is changed(the program is switched); And
The button to reset the contest environment is clicked.
The total painting flow is show in Figure 5.
Where Draw()is the painting method for dynamic obstacle. In the definition of class
dynamic obstacle, different instance can override this method, using different parameter. Draw()
is defined as.
public void Draw(ref Graphics g)
{
DrawHelper.DrawRectangle(ref g, PositionMm, DirectionRad, LengthMm, WidthMm,
BorderWidthPix, ColorBorder, ColorFilled);
}
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Figure 5. Painting flow of one simulation period
According to the number of simulation period, method Update Rectangular Dynamic
Locomotion Para () update the movement parameters of one dynamic obstacle, which include
the coordinate of center, the velocity, direction of the velocity, the angular velocity.
The move track screenshot sequence of the dynamic obstacle before the left goat in the
ball fight is shown in Figure 6.
Figure 6. Movement track Screenshot of dynamic obstacle
4. Conlusion
Simulation program of robot fish is one platform for study and validate control theory. In
order to increase the programmable space, we need to improve the program and make some
innovation. This paper firstly discussed the design ideas for avoid dynamic obstacle and for
forcibly dribbling obstacle. Then by the object-oriented ideas, described the modeling process of
dynamic obstacles, including the inheritance from static obstacle. Then give and analyze the
key code. And at last the realization results are provided to show the validation of the described
10. ISSN: 2302-4046 TELKOMNIKA
TELKOMNIKA Vol. 12, No. 1, January 2014: 304 – 313
313
design. In the platform test, static obstacle has provides the indispensable environmental
materials, and dynamic obstacle has successively increase contest interest and variability.
In order to further increase the variability of obstacle, the future work is to set the shape
of obstacle changeable, for example, to take the shape of acaleph, whose size can grow up and
shrink. Whether the shape need be changed depends on the requirement, for example, in order
to dribble, we can change the shape of obstacle from a 1-like to a C-like one. We can also
assign some special effect to the obstacle, for example, when robot fish touch the obstacle, it
will slow down, stun, be fouled out or et al. thus to impel robot fish voluntarily avoid the obstacle.
And further, we can also set the velocity and track randomly.
Acknowledgment
This paper is jointly sponsored by the Project of Construction of Innovative Teams and
Teacher Career Development for Universities and Colleges under Beijing Municipality
(IDHT20130519), and by the Funding Project for Graduate Quality Courses Construction of
Beijing Information & Science Technology University, and by the Funding Project for Graduate
Science and Technology Innovation Projects of Beijing Information & Science Technology
University.
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