Genetic Algorithm-based Robot Path Planning

Nowadays, building an intelligent robot that able to move by itself from one location to another without collides with other obstacles is of interest in many applications. In the real world, condition of an environment is always unpredictable and changes with the existence of dynamic obstacles. This paper tends to propose an algorithm for robot path planning in a dynamic environment using Genetic algorithm (GA) technique. The proposed algorithm is able to find an optimum path for a robot and avoid any static and dynamic obstacles. The variation of the proposed algorithm is shown with the implementation of the algorithm in 4-way movement robot and 8-way movement robot. The simulation results show significant performance of the algorithm when compared with real optimum path

Synthesis of Diazonium (Perfluoroalkyl) Arylsulfonimide Monomers from Perfluoro (3-Oxapent-4-ene) Sulfonyl Fluoride for Proton Exchange Membrane Fuel Cell

Two diazonium perfluoroalkyl arylsulfonimide (PFSI) zwitterionic monomers, 4-diazonium perfluoro(3-oxapent-4-ene)benzenesulfonimide (I) and 4-(trifluoromethyl)-2-diazonium perfluoro(3-oxapent-4-ene)benzenesulfonimide (II) have been synthesized from perfluoro(3-oxapent-4-ene) sulfonyl fluoride (POPF) for proton exchange membrane fuel cells. PFSI polymers are proposed as new electrolytes due to their better thermal stability, inertness to electrochemical conditions, and lower susceptibility to oxidative degradation and dehydration. For a better integration between the electrode and the electrolyte, the PFSI polymers are expected to be grafted onto the carbon electrode via the diazonium moiety. All the reaction intermediates and the final product were characterized with 1H NMR, 19F NMR and IR spectroscopies

A resource-aware content adaptation approach for E-Learning environment / Mohd Faisal Ibrahim

The rapid growth of web and mobile technologies has allowed people to access E-Learning content from heterogeneous client devices. In order to deliver the best presentation of content requested, the E-Learning system must possess a mechanism that not only capable of accurately discovering the characteristics and capabilities of a client’s device but also capable of finding out about network and server resource availability. Three recurring issues need to be addressed when constructing such solutions: 1) How to identify the device characteristic and the capabilities of a device, 2) How to find out about network resource availability, and 3) How to adapt application behavior. Addressing these questions the dissertation makes three main contributions. First, a content negotiation and adaptation architecture was proposed to facilitate the process of identifying and detecting client device. It differs from other existing content negotiation approaches by introducing the idea of combining dynamic and static device capabilities detection methods. It consists of a device database and two processing components: (1) device identification module and (2) device capabilities detection module. The content negotiation and adaptation architecture was implemented and validated through various laboratory experiments and field studies which the results highlight the importance of using token attributes matcher by eliminating the need of using the entire user agent strings for device identification and capabilities detection. Besides reducing the processing overhead it also achieves better results in terms of accuracy compared to the user agent approach

Using the ERT method to differentiate resistivity anomalies attributed to natural and man-made activities

Karst terrain is considered to be a very complex topography compared with most other geological environments. Many features can be observed such as sinkholes, air-filled cavities, losing streams, and solution widened joints. These karst features can cause subsidence and damage infrastructure such as buildings and roads thus causing economic hardship and disruption of life. The typical geological and hydrological studies are not enough to understand the karst processes. For this reason, two geophysical methods were involved in investigating the subsurface in the study area. In this research, the electrical resistivity tomography (ERT) and multichannel analysis of surface wave (MASW) data were acquired in Greene County southwest Missouri. The ERT is a geophysical method that more frequently used to map variations in lithology and moisture content in complex subsurface areas such as karst. MASW data were used to constrain to ERT interpretations, particularly the depth to bedrock. The study aims were to use ERT and MASW to map the variable depth of the top bedrock, differentiate the anomaly zones of resistivity that can be caused naturally or by man-made, mapping variations in rock quality, mapping joint sets, and identifying possible. According to the interpretation of the ERT data, it is concluded that anomalies zones were attributed to the seepage of moisture content through the natural and man-made drainage pathways and the area that contain prominent joint sets --Abstract, page iii

Pengaruh Bermain CD Interaktif Edukatif ‘Ayo Belajar’ Terhadap Kemampuan Kognitif Anak Usia 5-6 Tahun Di TK Mentari Cipondoh Tangerang

Tujuan dalam penelitian ini adalah untuk mengetahui perbedaan kemampuan kognitif antara siswa yang diberi metode pembelajaran menggunakan media CD interaktif dengan siswa yang diberi metode pembelajaran konvensional di TK Mentari Cipondoh Tangerang. Metode penelitian yang digunakan adalah Eksperimen.Sampel yang diambil untuk mewakili populasi adalah menggunakan teknik simple random sampling. Sampel penelitian adalah siswa kelas B TK Mentari sebanyak 10 siswa. Teknik pengumpulan data yang digunakan adalah observasi, dokumentasi, pretest dan posttest. Uji Prasyarat analisis menggunakan uji Chi Kuadrat dan Uji Fisher, diperoleh bahwa kedua sampel berdistribusi normal dan homogen. Dari perhitungan uji statistik diperoleh thitung > ttabel (2,834 > 2,306), maka Ho ditolak dan Ha diterima pada taraf signifikan ɑ=0,05 dengan derajat kebbasan (db)=8. Sehingga dapat disimpulkan bahwa terdapat perbedaan kemampuan kognitif siswa yang diberikan metode pembelajaran menggunakan media CD interaktif dengan metode pembelajaran konvensional. Dengan demikian dapat disimpulkan bahwa kemampuan kognitif siswa kelas B yang belajar dengan menggunakan media pembelajaran CD interaktif lebih baik dari siswa kelas B yang belajar tanpa menggunakan media CD interaktif

Strategies and methods of HIV prevention among Malaysian women: a literature review

Background: The scale and intensity of HIV epidemic among women worldwide and in Malaysia is increasing at an alarming rate. Their difference in vulnerability, coupled with the heightened risk of heterosexual transmission demands specific preventive strategies for controlling HIV epidemic among women. This article reviews the strategies and methods of HIV prevention which may be used for women, specifically within the Malaysian context. Materials and Methods: A literature search in the Medline database through Ovid SP and ProQuest Central was undertaken with the aim to identify published articles on HIV prevention among women. Additional information was gathered from published and unpublished reports, government policy documents and surveillance data from the Ministry of Health, Malaysia. Result: Various strategies of HIV prevention have been researched and applied within a range of female populations worldwide. These strategies can be divided broadly into behavioural changes and biomedical strategies. While the most available, affordable and accessible method remains the male condom, the application of condoms is technically not under women’s control. An alternative to this in the form of female-controlled methods are currently being researched. While their practical application has not reached women in general, the potential of female-controlled methods as alternative methods for empowering women and putting women in control of their risk of being exposed to the HIV virus is overwhelming. Conclusion: The biological and contextual factors that pose a great challenge in preventing HIV among women demands a broad array of preventive strategies to halt the increasing epidemic in this vulnerable group. It is hoped that some of the female-controlled methods will be available for use among high-risk women in Malaysia in the near future

Development of Integrated Warehouse Application for Retail Business with Multi-Echelon Demand using Open-source ERP System

The Integrated Warehouse Application (IWA) is a platform that combines inventory management, order management, warehouse operations, shipping, logistics, and reporting and analysis. It helps users manage their inventory to meet supply and demand requirements. Although many large companies use IWA to increase their operational efficiency, its complexity, technology, and customization requirements make it too expensive for small and medium-sized enterprises (SMEs). Our study focuses on SMEs in the retail business, where fast and accurate order processing is important for customer satisfaction and loyalty. We researched how to accommodate multi-echelon demand for the retail industry. To address these challenges, we used an Open-source ERP System called Odoo to create the IWA. Our findings show that implementing an integrated warehouse inventory system like the one provided by Odoo can offer real-time visibility into inventory levels, orders, and shipments. Automating manual processes enhances speed and accuracy, which improves customer service and business performance

A genetic algorithm based task scheduling system for logistics service robots

The demand for autonomous logistics service robots requires an efficient task scheduling system in order to optimise cost and time for the robot to complete its tasks. This paper presents a Genetic algorithm (GA) based task scheduling system for a ground mobile robot that is able to find a global near-optimal travelling path to complete a logistics task of pick-and-deliver items at various locations. In this study, the chromosome representation and the fitness function of GA is carefully designed to cater for a single load logistics robotic task. Two variants of GA crossover are adopted to enhance the performance of the proposed algorithm. The performance of the scheduling is compared and analysed between the proposed GA algorithms and a conventional greedy algorithm in a virtual map and a real map environments that turns out the proposed GA algorithms outperform the greedy algorithm by 40% to 80% improvement