Path Planning and Evolutionary Optimization of Wheeled Robots

Probabilistic roadmap methods (PRM) have been a well-known solution for solving motion planning problems where we have a fixed set of start and goal configurations in a workspace. We define a configuration space with static obstacles. We implement PRM to find a feasible path between start and goal for car-like robots. We further extend the concept of path planning by incorporating evolutionary optimization algorithms to tune the PRM parameters. The theory is demonstrated with simulations and experiments. Our results show that there is a significant improvement in the performance metrics of PRM after optimizing the PRM parameters using biogeography-based optimization, which is an evolutionary optimization algorithm. The performance metrics (namely path length, number of hops, number of loops and fail-rate) show 34.91 , 23.18 , 52.21 and 21.21 improvement after using optimized PRM parameters. We also experimentally demonstrate the application of path planning using PRM to mobile car-like robot

Path Planning and Evolutionary Optimization of Wheeled Robots

Probabilistic roadmap methods (PRM) have been a well-known solution for solving motion planning problems where we have a fixed set of start and goal configurations in a workspace. We define a configuration space with static obstacles. We implement PRM to find a feasible path between start and goal for car-like robots. We further extend the concept of path planning by incorporating evolutionary optimization algorithms to tune the PRM parameters. The theory is demonstrated with simulations and experiments. Our results show that there is a significant improvement in the performance metrics of PRM after optimizing the PRM parameters using biogeography-based optimization, which is an evolutionary optimization algorithm. The performance metrics (namely path length, number of hops, number of loops and fail-rate) show 34.91 , 23.18 , 52.21 and 21.21 improvement after using optimized PRM parameters. We also experimentally demonstrate the application of path planning using PRM to mobile car-like robot

Innovation capability, disruptive technology and SME's performance in Malaysia

The aim of this study is to examine the relationship between innovation capacity (IC), and firm performance (FP) mediated by disruptive technology (DT) among SMEs within Selangor, Malaysia. The theoretical model is based on the Resource-Based Theory and the Theory of Innovation. To answer the research questions, four hypotheses were formulated. They are; (i) There is a significant relationship between innovative capacity and SMEs performance, (ii) There is a significant relationship between innovative capacity and disruptive technology, (iii) There is a significant relationship between disruptive technology and SMEs performance, (iv) There is a significant relationship between innovative capacity and SMEs performance mediated by disruptive technology. Self-administrated questionnaires were distributed to 800 owner-managers of SMEs in Selangor. A total of 150 firms responded in this study. This study utilised the Partial Least Squares Structural Equation Modelling (PLS-SEM) to establish validity and reliabiliy of measurement model and test the relationships. The results show a positive and significant relationship between innovation capacity and firm performance mediated by disruptive technology. Owner-manager of SMEs should emphasize innovativeness on all four (4) dimensions of innovations to ensure better firm performance. The results of this study also provides a better insight for various stakeholders to further understand the effects of IC and DT on SMEs performance. The study provides empirical evidence for theoretical relationship hypothesized in the research framework and also adds to knowledge on the importance of innovativeness in all aspects of firm’s offering along with adoptation of disruptive technologies in predicting firm performance. The study is confined to firm operating in Selangor. It is recommended that future research should also include other state(s) in Malaysia

Study on Genetic Variability, Heritability, Genetic Advance and Correlation among different characters in tomato (Solanum lycopersicum L.)

The present investigation entitled “Studies on genetic variability in tomato (Solanum lycopersicum L.)” was carried out at the UCOA, vegetable research farm, Guru Kashi University, Talwandi Sabo, Bathinda during rabi 2015-16 to evaluate tomato genotypes. The experiment was laid out in CRD with three replications. Total 20 genotypes including check cultivar were evaluated for horticultural Traits contributing yield and quality (suitable for processing) .There is a wide variability in different genotypes in tomato. Traits i.e. Number of primary branches per plant, Days to first fruit harvest, Plant height (cm),number of fruits per cluster, number fruits per plant, average fruit weight (gm), equatorial diameter of fruit (cm), polar diameter of fruit (cm), number of locules per fruit, pericarp thickness (mm), fruit pH, Fruit TSS (0brix), days to last fruit harvest and average yield per plant (kg) were studied during the investigation Analysis of variance showed significant differences among genotypes for all the characters under study during the investigation. High Phenotypic and Genotypic coefficient of variation were detected for characters like number of fruits per plant, number of locules per fruit, pericarp thickness and average yield per plant. High heritability coupled with genetic gain were recorded for number of fruits per plant, average fruit weight, number of locules per fruit and average yield per plant. Therefore these characters also show some scope for improvement through selection. A highly significant and positive phenotypic and genotypic correlation were found in number of fruits per cluster, plant height, number of fruits per plant and average fruit weight

Comparative studies on the ecology of bottom macrofauna in seasonal and perennial fish ponds and in the adjacent backwaters.

The flora and fauna inhabit at or near the bottom or sub-bottom layer of aquatic ecosystem may be broadly considered as benthos. The studies on benthic communities their distribution and abundance in space and time form an exciting field of brackishwater studies. The faunestic composition of tropical estuaries is represented by a wide spectrum of animals belonging to groups such as Polychaetes, Crustaceans, Molluscs, Nematodes, fishes etc. Benthos, for many years, has been a stepchild of ecology depending upon the thoughts generated by terrestial and water column colleagues. But with the increasing awareness on the complex relationship of benthic communities and the surrounding environment, in which they live, benthic ecologists have broken these feters and produced original research and hypothesis, now available to whole ecological world. As the tropical estuary is a special ecological niche with a complex dynamic mixture of transitional conditions, the faunestic composition and their abundance too showed very Interesting community structures and vary often with wide seasonal fluctuations

Optimal Approach to Compute Metrics for Structural and Behavioural Diagrams of UML using Program Slicing Techniques

We have purposed an optimal approach for computing the various complexity metrics for different UML diagrams by using the program slicing techniques. Firstly, we draw the UML diagrams in Argo UML software then XML file is generated then by using the SD Metrics Tool different parameters were calculated automatically. The dependency graph is drawn then the slicing criteria is adopted by using our purposed algorithm then complexity metrics were calculated. After applying the program slicing techniques the complexity of any diagram will be decreased and will easier for testability, maintainability, readability, and modularity

Effect of Machining Parameters on Surface Finish and Noise Patterns for Machining EN-19 Steel with PVD-TiN Coated Mixed Ceramic Inserts in CNC Turning Operation

235-240This paper presents a relationship between the surface finish, machining conditions and the noise level generated by the turning operation for machining of EN-19 alloy steel using PVD-TiN coated mixed ceramic (Al2O3+TiCN) inserts on a CNC turning centre under wet lubrication conditions. The machining parameters considered in this study include cutting velocity, feed rate and depth of cut. The levels of machining parameters for the experimental investigation are determined using full factorial experiment model and ANOVA is applied to find the effect of machining parameters on surface roughness. Additionally, noise generated during the cutting operation for all set of experiment trials is recorded to determines the relationship between machining conditions and the surface finish

Reflective Thinking among Teachers: Development and Preliminary Validation of Reflective Thinking for Teachers Questionnaire

This article describes the development and validation of the 32-item Reflective Thinking for Teachers Questionnaire (RTTQ) designed to assess the process of reflective thinking among teachers. The process of instrument development and validation is described, along with a review of relevant literature related to the process of reflective thinking. An exploratory factor analysis and a subsequent confirmatory factor analysis of the responses of a large sample (N = 659) was carried out. The results of the study showed that the structural equation model developed fitted the questionnaire data well. The confirmatory factor analysis produced goodness of fit indices within an acceptable range, and the questionnaire appeared to be a reliable instrument that would assist in the assessment and improvement of the quality of reflective thinking among teachers.Cet article décrit le développement et la validation du questionnaire à 32 questions portant sur l’évaluation des compétences de la pensée critique chez les enseignants (Reflective Thinking for Teachers Questionnaire). Nous décrivons le processus d’élaboration et de validation du questionnaire, et présentons un examen de la littérature sur la pensée réflexive. Les réponses d’un échantillon de taille importante (N = 659) ont été soumises à une analyse factorielle exploratoire suivie d’une analyse factorielle confirmatoire. Les résultats indiquent que le modèle d’équation structurelle élaboré s’ajuste bien aux données du questionnaire. L’analyse factorielle confirmatoire a produit des valeurs élevées pour la qualité d’ajustement se situant dans une fourchette acceptable, et le questionnaire semble avoir été un outil fiable pour appuyer l’évaluation et l’amélioration de la qualité de la pensée réflexive chez les enseignants.Mots clés : pensée réflexive; formation des enseignants; validation d’instruments; élaboration d’instruments; pensée critiqu

Towards an Effective Extensive Reading Programme for Malaysian Schools

Becoming proficient in a second or foreign language requires a great deal of appropriate target language input. However, for many learners of English in Malaysian secondary schools, exposure to the language is unfortunately confined to just the school environment, and this makes teaching English become an even greater challenge for teachers. Given the limited time during lessons for language input, the solution appears to lie beyond the confines of the English language lesson. One way of providing greater language input is through extensive reading programmes which provide language learners with much needed language input. This paper focuses on the viability of a stand-alone extensive reading programme for supporting learners of English. The discussion is anchored to conversations with Malaysian English language teachers who share their thoughts and experiences related to the long-running NILAM and NILAM 2.0 reading programmes. Findings are presented under three main themes which emerged from interviews with English language teachers, namely the themes of understanding and appreciation, teacher resistance and external support. The teachers appeared to view the NILAM reading programmes as an additional task that they were forced to manage with little external support. Although the creation of awards was well-intended, it took away from the aim of encouraging students to read for the sake of enjoyment. Despite apparent pessimism about the NILAM programmes, teachers were unanimous in their belief that a good extensive reading programme can indeed support learners with building their vocabulary range and enhancing their general proficiency in English

Studies on Genetic Diversity in Growth, Yield and Quality Traits in Tomato (Lycopersicon esculentum Mill.)

Evaluation of 35 genotypes of tomato for yield, quality and fruit characters under net-house revealed that PCV was higher than GCV for most traits. High heritability, with moderate to high GCV and genetic gain, was recorded for number of fruits per plant, yield per plant, fruit weight, number of fruit-clusters per plant, polar diameter and number of flower-clusters per plant indicating, that, these characters could be improved by simple selection. Total yield per plant had positive and highly significant correlation with number of fruit-clusters per plant, number of flowerclusters per plant and fruit weight. Number of locules per fruit showed positive and significant correlation with fruit weight and equatorial diameter but, significant negative correlation with polar diameter. Maximum direct contribution to total yield per plant was made by number of fruits per plant, followed by number of locules per fruit