Issue 1, Volume 4, 2010

3D Kinematics of a Tentacle Robot
by Giuseppe Boccolato, Florin Manta, Sorin Dumitru, Dorian Cojocaru

Abstract: This paper deals with the control problem of a class of tentacle arms. A tentacle robot produces changes of configuration using a continuous backbone made of sections which bend. The lack of discrete joints is a serious and difficult issue in the determination of the robot’s shape. A tentacle arm has a variable length and theoretically it can achieve any position and orientation in 3D space. In order to get a better control in the constraint operator space, it is possible to increase the length of the tentacle. A tentacle arm prototype was designed and the practical realization is now running.
Tentacle robot, motion control, modelling
Full Paper, pp. 1-8


Hydropower Preventive Monitoring Action Plan Prophylactic
by Marius-Constantin Popescu, Nikos E. Mastorakis

Abstract: Hydropower generators operation can be automatically optimized based on a correct determination of the main performance indices. The same approach is operable for rehabilitation studies. The most important application refers at small and very small hydropower stations, operating completely automatically, and individual or in a waterfall. There were established resistors parameters, adjustment characteristics, efficiency characteristics at different operation regime, and main types of losses at different regime. It is generated a computer of modeling process, considering these parameters, utilizable in mentioned applications. The numerical example is presented for a small hydropower generator type HVS 288/159-8, working in a hydropower station on the Jiu River. Determining the performance generators goes into hydropower plants is a major landmark in both prophylactic legally and in terms of energy efficiency due to rehabilitation or re-engineering processes.
Hydropower, Components, Parameters evaluation, Preventive tests
Full Paper, pp. 9-18


Issue 3, Volume 4, 2010

The Development and Use Supporting of Renewable Energy Sources in Terms of Czech Companies
by Renata Myskova

Abstract: Renewable energy sources are used only partially in the Czech Republic; the Czech energy mix still consists mostly of primary sources of energy. Better use and expansion of renewable energy is linked to their financial demand, at the time of purchase and at the time of their use. The aim of this article is to specify the activities in the field of renewable resources which are economically interesting for entrepreneurial subjects, to describe the situation in the field of renewable energy in the Czech Republic, and analyze the possibility of financial support for their development and the reasons why these funds are utilized.
Renewable energy resources, sustainable development, project financing for the support of renewable energy resources
Full Paper, pp. 55-64


Soft Systems Engineering Tools in Requirements Elicitation
by Marcel J. Simonette, Fabio L. L. Sanches, Edison Spina

Abstract: Humans beings are the main actors in any system created in the Information and Communication Technology. From system conception to its discard, humans are present. Humans are the system designers, system developers, system users and humans are affected by the system, positively or negatively. Although human is the main actor, several systems engineering methods do not include humans’ aspects during the system development. Given the cost involved in system changes after understand its requirements, one must include the human dimension in system requirements elicitation phase. This requirements engineering process is a system inside the system to be treated, it is a system where the components are humans activities. This paper deals with the use of soft system approach in the elicitation process and discusses a perspective of method selection, as a way to identify humanrequirements for reduce the discrepancy between the expected features of a system and the ones perceived.
Keywords: Human Factors, Requirements Elicitation, Requirements Engineering, System Engineering, System Thinking, Soft Systems

Full Paper, pp. 65-75


Analysis the Impact of Enterprise Resource Planning Systems on Organizational Effectiveness
by Amin Amid, Mehdi Bagheri, Saeed Ghasrodashti

Abstract: Enterprise Resource Planning (ERP) Systems exist to create effectiveness organizations but measurement of this is so difficult. Effectiveness is multiconcept. Three variables affect organizational effectiveness such as defined casual, intervening and end-result. In this article at the first, we review measurement methods that have a full fitness with these variables. After that, we try to use this variables and ERPs benefit to study differential impact of these systems on effectiveness. In addition, we investigate the effectiveness measurement methods that calculating the affects of ERPs on organizational effectiveness and introduce the appropriate methods that adjust better with these systems. At the last, we suggest the management guideline for implementing ERPs.
Keywords: Enterprise Resource Planning, Organizational Effectiveness, Casual, Intervening and End Result Variables

Full Paper, pp. 76-86


Partially Decoupled DMC System
by P. Skupin, W. Klopot, T. Klopot

Abstract: This paper presents on the application of the partial decoupling control for the nonlinear MIMO hydraulic plant composed of two tanks connected with each other. In order to make the plant more challenging for control the first tank has variable cross sectional area and there has been applied additional interaction for input flow streams. By means of the three port valves some fraction of the first flow stream (F1) is fed into the second tank and some fraction of the second flow stream (F2) is fed into the first tank resulting in the smaller relative degrees in the cross channels of the nonlinear plant. The goals of the control algorithm were maintenance of the both liquid levels (H1, H2) at preset values and elimination of the interactions between control loops. The application of the partial decoupling matrix of constant elements together with the DMC controller for the first tank and PI controller for the second tank (of constant cross sectional area) gave satisfactory results – smaller interactions between control loops. Moreover, it has been studied the quality of control in the presence of the additional disturbances for the system with active or non-active decoupling mechanism. The plant was disturbed by two oscillating sinusoidally with nonzero mean input flow streams (F3, F4) for the first and second tank respectively. The simulation results have shown that the decoupling mechanism improves quality of control in the presence of the disturbances.
Keywords: Adaptive control, DMC (Dynamic Matrix Control), Partial decoupling, Predictive control, Nonlinear plant

Full Paper, pp. 87-94


Prevision Model of the Regional Development of Tourism in Barsei Plain
by Adina Camarda, Doru Plesea, Codruta Adina Baltescu

Abstract: Between the economic-social developments that combine harmoniously the tourism in Barsei Plain there is a relationship of correspondence and reciprocity. The statement is based on the double implication that appears as a circuit, in the sense that the activities Specific to the tourism by their complexity contributes to the ensemble development of the region, while this development will determine at its turn the increase of the tourism circulation. In this context, appears the necessity of future anticipation, process by which it can be achieved the stability of the tourism phenomena that must be followed, with the purpose of obtaining better results, for achieving certain goals. This prevision process represents the basis for all the decisions concerning the tourism development strategy in Barsei Plain.
Region, tourism circulation, regional development, tourism phenomenon, prevision, emitting area, receiving area, tourism product, reception capacity, environment spore, trend
Full Paper, pp. 95-103




Issue 2, Volume 4, 2010

Improving the Prediction Accuracy of Recurrent Neural Network by a PID Controller
by Ryad Zemouri, Rafael Gouriveau, Paul Ciprian Patic

Abstract: In maintenance field, prognostic is recognized as a key feature as the prediction of the remaining useful life of a system which allows avoiding inopportune maintenance spending. Assuming that it can be difficult to provide models for that purpose, artificial neural networks appear to be well suited. In this paper, an approach combining a Recurrent Radial Basis Function network (RRBF) and a proportional integral derivative controller (PID) is proposed in order to improve the accuracy of predictions. The PID controller attempts to correct the error between the real process variable and the neural network predictions.
Maintenance, prognostic, error of prediction, neural network, RRBF, PID
Full Paper, pp. 19-34


Testing Robotic Manipulators: Improvement and Experience
by Yaser Maddahi, Nariman Sepehri, Hasan Ghorabi, Ali Maddahi

Abstract: In today’s world of flexible automation, users should be able to rely on the performance of robots. The ISO 9283 presents the criteria and related testing methods to determine performance characteristics of industrial manipulators. This paper reports on the process of experimental evaluation, improvement and objective/quantitative comparison among different performance indices of two types of robots: a revolute robot and a prismatic robot. Using certified technical standards, these indices are calculated based on experimental analyses. Additionally in order to further improve the functionability of robots, risk assessment of robot is done using IEC 31010 standard and FMEA approach. Performance indices are compared after and before applying the correction actions obtained from risk assessment. The results show that the accuracy and repeatability of both robots are substantially enhanced after correcting the design and applying the changes on manufactured robots. The main contribution of this paper is the design improvement of robotic workability using FMEA method as well as the calculation of performance indices using experiments and following the international standards.
Manipulators, Accuracy, Repeatability, Tracking, Design Validation, Risk Management, Load Capacity
Full Paper, pp. 35-45


Risks Influences and Sustainable Multihazard Design on Built Environment
by Razvan Oprita

Abstract: The notion of risk is reported on local and transitory phenomenon that through them actions are remodeling the ecological system, affecting the built environment and endangers the human life. Risks are nature generated like earthquakes, floods, winds and fires; and human generated like terrorism. Defining and understanding risks and the problems that each of them raises on built environment is essential because they are changing human environment and the way of life. Each risk has its own characteristics and raises specific problems. A multi hazard approach of design teams is required for a proper mitigation assessment of the impacts on built environment. An investigation of built environment affected by risks leads to definition of specific measures for each risk category as well as commune measures for mitigation. Structural modification of the built environment outlook trough multihazard design and taken into consideration modern people needs can lead to remodeling of urban landscape with benefic effects on socialization needs and protection of humans.
Risk mitigation assessment, built environment, multihazard design, urban environment
Full Paper, pp. 46-53


Issue 4, Volume 4, 2010

Housing Market and Financial Crisis
by M. Lopreite, A. Scarpino

Abstract: In times when the financial and economic crisis is experimented after the Great Depression, this event has had serious consequences on the real estate sector and consequently on very vast urban areas. The process of the “urbanised reutilization” that has produced the contemporary city began quickly there. The city changed in consequence of the market and it is the same market that redefined the terms of the interventions ex-post. After subprime loans market crash where it was thought to have endless possibilities of growth, are we able to define the consequences that the crisis will have on the post-contemporary cities of Europe? Is it possible to foresee sceneries or visions of intervention and try to identify models of development without excessive waste of resources? We can start analyzing the cases that have before others restarted to go up the economic cycle again, and verify how this affected the processes of transformation of the post-contemporary city.
Keywords: Housing market, economic cycle, business, panic, animal spirits, urbanization

Full Paper, pp. 105-113


Novel Mobile Robot Path Planning Algorithm
by Hachour Ouarda

Abstract: In this present work we propose a novel mobile robot path planning algorithm. Autonomous robots which work without human operators are required in robotic fields. In order to achieve tasks, autonomous robots have to be intelligent and should decide their own action. When the autonomous robot decides its action, it is necessary to plan optimally depending on their tasks. More, when a robot moves from a point to a target point in its given environment, it is necessary to plan an optimal or feasible path avoiding obstacles in its way and answer to some criterion of autonomy requirements such as : thermal, energy, time, and safety for example. First, we assume that the goal position is unknown. Secondly, only obstacles in the “relevant” area (according to the logical position ) are consider, i.e. the obstacles that are far, or in the direction opposite to the movement of the robot are not relevant. In this context, a full range of “main sub_position concepts” for vehicle control have been investigated by the execution of the asked mission. These feasible sub_position works demonstrate that obstacle detection and collision avoidance are improved with good results. While this model has been successful for the path planning problem, it is problematic for robots to react, act, decide, and to take a suitable action ”high level reasoning”. Much of the challenge of the mobile robots requires intelligence at subconscious level. In this context, the proposed path planning algorithm provides the robot the possibility to move from the initial position to the final position (target). The results are satisfactory to see the great number of environments treated.
Keywords: Intelligent Autonomous Mobile Robots, Path planning , reaction, decision, behavior.

Full Paper, pp. 114-123


The Proposed Grid Based Navigation Approach
by Hachour Ouarda

Abstract: Navigation is a major challenge for autonomous, mobile robots. The problem can basically be divided into positioning and path planning. In this paper we present a scheme for path finding, we focus on positioning. Starting out from an initial position in the grid, the mobile robot can autonomously head for destination cells in the grid. On its way it determines the current location in the grid using a connectivity_cell principle by picking up line-Crossing cells. This principle will be clarified in detail. A key ability needed by an utonomous, mobile robot is the possibility to navigate through the space. The focus is on the ability to move and on being self sufficient. The robot navigates on a grid which regularly divides the ground into rectangular cells. To carry out tasks in various environments as in space applications, the robot succeeds to reach its target without collisions. The proposed approach can deal a wide number of environments. This navigation approach has an advantage of adaptivity such that the intelligent autonomous mobile robot approach works perfectly even if an environment is unknown. The results are promising for next future work of this domain
Keywords: Intelligent Autonomous Systems, grid workspace, path planning, Obstacle avoiding, intelligence

Full Paper, pp. 124-133


A Genetic Learning Motion Planning of an Autonomous Mobile Robots
by Hachour Ouarda

Abstract: This paper describes how soft computing technology as Genetic Algorithms (GAs) can be applied for path planning of an Autonomous Mobile Robot (AMR). GAs are search algorithms based on the mechanics of natural genetics. They combine survival of the littlest among string structures with a structured yet randomized information exchange to form a search algorithm with some of the innovative flair of human search. The proposed GA approach has an advantage of adaptivity such that the GA works perfectly even if an environment is unknown. . These environments were randomly generated . While randomized, GAs are no simple random walk. They efficiently exploit historical information to speculate on new search points (sub path positions) with expected improved performance. We measure the number of generations of candidates. The coding of GA is to affect label 0 for free cell and 1 for hazardous cell. This way of work is very useful later if the substring is inherited to new generations by genetic operators. The objective is to find a feasible and flexible path from initial area source to destination target area, flexible because the user can change the position of obstacles it has no effect since the environment is unknown. This robust method can deal a wide number of environments and gives to our robot the autonomous decision of how to avoid obstacles and how to attend the target. More, the path planning procedure covers the environments structure and the propagate distances through free space from the source position. For any starting point within the environment representing the initial position of the mobile robot, the shortest path to the goal is traced. The results gotten of the GA on randomly generated terrains are very satisfactory and promising.
Keywords: Genetic Algorithm (GA), Motion Planning, Autonomy requirements, Autonomous Mobile Robot (AMR), Intelligence

Full Paper, pp. 134-144


Simulation and Modeling of a Column Industrial Robot Used in some Different Mounting Processes
by Paul Ciprian Patic, Lucia Pascale, Mihaita Ardeleanu, Florin Popa

Abstract: These column industrial robots are used largely in manipulation and mounting operations of a different spares with small and medium dimensions, with regulate forms, which is processed in flexible cells ready in star or circular way of the components. The column Industrial Robots type represents a large used category, starting with the period of the beginning of automatic flexible manufacture. Starting from column industrial robot architecture one tries to find a simulation procedure for the designing of robots using two methods for resolve this problem. One of them is the polynomial interpolation of three degree method and the other used method is the connection of linear functions in parables. This work presents some determinations regarding the simulation of positions, speeds and accelerations which exists into a translation or rotation couple from a kind of robot.
Keywords: Industrial Robot, Automatic Processes, Column Industrial Robot, Design, Translation, Rotation

Full Paper, pp. 145-154