Path planning algorithm for a car-like robot based on cell decomposition method

This project proposes an obstacle avoiding path planning algorithm based on cell decomposition method for a car-like robot. Dijkstra’s algorithm is applied in order to find the shortest path. Using cell decomposition, the free space of the robot is exactly partitioned into cells. Then, the connectivity graph is created followed by calculating the shortest path by Dijkstra’s algorithm. This project also concerns the robot kinematic constraints such as minimum turning radius. Thus, kinematic modeling and Bezier curve have been used to obtain a feasible path. The algorithm is able to obtain a curvature bounded path with sub-optimal curve length while taking cell decomposition as reference skeleton. The C-space concept has been applied in this situation. The obstacles on the map are expanded according to the size of car-like robot, so that the robot could be treated as points on this map and the coordinates of the map is corresponding to these points. The simulation and experimental result shows the algorithm can obtain the collision free path which satisfies the curvature constraint and approaches the minimal curve length for a car-like robot

Parametric optimization of the femoropopliteal artery stent design based on numerical analysis

High-failure rates of Peripheral Arterial Disease (PAD) stenting were reported due to the inability of certain stent strut configuration to accommodate severe biomechanical environment of the Femoro-Popliteal Artery (FPA) such as bends, twists, and axially compresses during limb flexion. The unique of mechanical deformation environment in FPA has been considered one of main factors affecting the durability of the FPA stent and reducing the stent life. Consequently, various optimization techniques have been developed to improve the mechanical performance of the FPA stent. The present work shown that, the first-two of twelve FPA resemble stent models stent models have been selected with a net score of 3.65 Model I and, with a net score of 3.55 Model II via applying Pictorial Selection Method. Finite Element Method (FEM) of optimization study based-parameterization has been conducted for stent strut dimensions, stents were compared in terms of force-stress behavior. Multi Criteria Decision Making (MCDM) method has been utilized to identify the best combination of strut dimensions. The strut thickness parameterization results were in relation T α 1/σ (T is strut thickness) for both models with all mechanical loading modes. Moreover, the strut width parameterization results were in relation W α 1/σ (W is strut width) for both models with all mechanical loading modes. Whereas, the strut length parameterization results were in relation L α σ in case of Model I and, L α 1/σ (L is strut length) in case of Model II, under axial loads, while under three-point bending and torsion loading modes L α σ for both models, under radial compression the relations were L α 1/σ in case of Model I and, L α σ in case of Model II. The best combination of strut dimension in the thickness case was t4 = 230 µm for both models, in strut width were w3=0.180, and w4= 0.250 mm for Model I and Model II, respectively, and in strut length were l2= 1.40, and l2= 1.75 mm for Model I and Model II, respectively. In conclusions, the mathematical selection approach and the consistent mathematical approach of MCDM has been proposed, also the mechanical performance has been improved for parameterized stent models

Consumer decision making in mobile-banking service selection

This paper reports on the findings of a study of 267 consumers on the first order selection criteria within a decision making model that utilizes the Analytic Hierarchy Process (AHP) to evaluate mobile banking service selection. The AHP analysis of the first order selection criteria for the full data sample identified ‘Time Saving’ as the highest ranked factor followed by ‘Control’ then ‘Any Place’ and lastly ‘Cost’. The survey also reports on consumer usage patterns for internet and mobile services as well as exploring their experiences with mobile banking services

Factors influencing the adoption of mobile services consumers' preferences using analytic hierarchy process

The rapid and widespread development of innovations in mobile services is changing societies and improving lives around the world. Due to lagging adoption, many of these new innovations have yet failed to generate revenue that was expected by mobile network operators, application and content developers. There are several factors which are affecting the service adoption by consumers. This paper aims to provide practitioners and academics, an insight on what consumers' preferences are by using an Analytic Hierarchy Approach (AHP). The objective of this paper is to identify factors influencing the adoption of the mobile services. In this study we have considered Payment Mode, Functionality, Added Value and PQCP (perceived quality, cost and performance) as the main service adoption factors. The survey results indicate that Functionality is the most important influencing factor for the respondents, followed by Added Value, PQCP and Payment Mode.Adoption,AHP,Mobile Value Services,Consumer's Preferences

A supplier selection strategy within the Malaysian telecommunications industry

The telecommunication industry in Malaysia has grown rapidly over the last 15 years, with effective supply chain management becoming increasing important within the sector. A multitude of providers and part owned Malaysian government companies, vendors and suppliers are involved in generating and creating value-adding products and services within this sector (across wireless, wireline, broadband business and consumer lines of business). This paper describes key challenges facing a major telecoms service provider in Malaysia with regards to drivers involved in the overall procurement and supplier selection with regards to components of performance management, decision-making, selection techniques, quality and cost management, procurement policy and procurement ethics. This paper further focuses on defining and detailing research currently being undertaken to develop a framework for identifying supplier selection drivers that are inherent within the sector and suggests a research approach to investigate and develop strategies for supplier selection for the telecommunications industry in Malaysia

Efficient Penetration Policy for Internet Connection in Pakistan Rural Areas

학위논문(석사)--서울대학교 대학원 :공과대학 협동과정 기술경영·경제·정책전공,2016. 2. Lee, Jongsu .Understanding the preferences of Internet users is useful for ICT (information and communication technology) policy and planning. Infrastructure of telecommunication is recognized as the key and fundamental factor for economic and social development outside the limits of geographical boundaries. Beyond Urban communities, Telecommunication technology infrastructure is a necessity for social benefits, growth, connection and competition, more in the rural communities in developing countries. This study shows appearance of Internet connection in rural areas of Pakistan, and specifically the aim of this research is concerned with a comprehensive examination and analytical procedures on the selection of optimal telecommunications technology infrastructure in Pakistans rural areas. Literature review was accomplished to investigate the knowledge and understanding in the areas of Multi-Criteria Decision-Making (MCDM) approaches, with particular focus on the analytical decision processes. The findings show that the Analytic Hierarchy Process (AHP) is a powerful decision method which is capable of modeling such a complex problem. An Analytic Hierarchy Process (AHP) method is presented that can be used for the evaluation of alternate technologies in telecommunications. The method is based on pair-wise judgment between various factors that affect the quality of service in a described hierarchical formation. This research will provide valuable insights for the policy makers from both academics and professionals, on Telecommunications infrastructure providing demonstration and how such rural technology selection decisions can be made within Pakistans rural areas. Keywords: Analytical Hierarchy Process (AHP), Internet penetration, telecommunication infrastructure, multicriteria decision making (MCDM), technology selection, rural Pakistan.Chapter 1 Introduction 1 1.1 Overview 1 1.2 Research motivation and Objective 3 1.3 Structure of the Thesis 6 Chapter 2 Literature Review on Rural Telecommunication 9 2.1 Characteristics of Rural Areas in Developing Countries 10 2.2 Telecommunication in Rural Areas 12 2.2.1 Telecommunication Rural Applications 16 2.3 Attributes for Rural Telecommunication Infrastructure 19 2.3.1 Attributes for Technical Aspects 22 2.3.2 Attributes for Public Issues 25 2.3.3 Attributes for Cost 28 2.4 Related Literature on Methodology 31 2.4.1 Analytical Hierarchy Process (AHP) 31 2.4.2 Application of AHP in Telecommunication 38 Chapter 3 AHP Model and Access Technologies 40 3.1 Methodology Framework 40 3.2 Structuring AHP Model 41 3.3 Selection of Access Technologies 44 Chapter 4 Configuration and Estimation of Result 51 4.1 Survey and Data 52 4.1.1 AHP Survey 52 4.1.2 Collection of Data 54 4.1.3 Descriptive statistics 56 4.2 Results and Analysis 62 4.2.1 Prioritizing Identified Attributes 62 4.2.2 Synthesis Finding a solution to the problem 63 4.2.3 Participants Preferences for different groups 64 4.2.4 Comparison Perspectives of Groups Preferences 78 4.2.5 Overall Preferences Results (Combined groups) 83 4.3 Analysis and Discussion 85 Chapter 5 Conclusion, Limitations and Future Works 89 5.1 Overall Conclusion 89 5.2 Key finding and Policy Implications 92 5.3 Limitations and Future Work 96 Bibliography 98 Annex 1 - Survey Questionnaire 102 Annex II - AHP Inconsistency of each respondent 114 Abstract in Korean 115Maste