Motion planning is a challenging and widely applied problem in robotics and artificial intelligence. Probabilistic Roadmap Planner, which is based on sampling, is a relatively new and popular method to solve this problem in complex and high dimensional spaces. Adaptive sampling is a key ingredient in finding a near optimal solution in tractable time. In this paper, we first explain the concept of randomized clustering in configuration space and then propose a method for adaptive sampling based on it. Experimental results show that sampling based on clustering can find a path with higher success rate in comparison with non-adaptive methods. Furthermore, in most cases, proposed method returns a shorter path in less time.

An intellectualization of manufacturing and a formation of national innovative system are major factors of national competitiveness and country’s positioning in international division of labor. Innovations today are especially important for success “catch-up” countries, such as Thailand, that has both - a set of own social and cultural benefits for further innovative development and a number of characteristics, reducing the prospects of innovative progress.\nThis study includes an analysis of social, cultural and economic features of Thailand innovative climate improvement; recommendations about the principles of strategy for innovation progress in the Kingdom; discusses the problems of Thai national innovation system integration in a global high-tech production and in world market of innovative products and technologies. \nThe findings and recommendations contained in the study are also based on the results of Thai younger generation survey, that considers a current state and prospects of innovative development of the country.

In this paper the time dispersive analysis of a set of data obtained from the UWB channel measurement of an environment typical of the Infostation scenario in outdoor roadway and recreation park is presented. These environments have natural vegetations and landform that extends above the surrounding terrains. The measurements were carried out in the frequency band of 3.1–5.3 GHz in various line-of-sight (LOS) scenarios. Beyond the conventional approach of analyzing the time dispersion characteristic of the UWB channel by mean of delay spread, this paper includes the analysis of the UWB channel stationarity. The relevance of such stationarity analysis is projected with some practical insight into the interpretation of the stationarity parameters

Background: Chromodomain helicase DNA-binding protein 5 (CHD5), which belongs to a superfamily of SWI2/SNF2-related ATPases, is a conventional tumor suppressor gene encoding a unique combination of functional domains followed by a helicase domain and a DNA-binding domain. To date, CHD5 protein was detected in brain region and appeared to be enriched in neurons.\n \nMethodology/Principal Findings: We genotyped CHD5 tagging single-nucleotide polymorphism (tSNP) rs1534997 by TaqMan probes in two independent cohorts: the discovery study including 264 cases and 255 controls (North China); and the replicative study including 477 cases and 471 controls (South China). The discovery cohort revealed that genotype AA in cases was less than that from controls (adjusted OR 0.62, 95% CI 0.42-0.91, P = 0.009). This protective quality increased in a dose-dependent manner as genotype AA decreased (Ptrend = 0.004). Corresponding relevance for genotype AA was showed in the replicative and combined cohorts (replicative: adjusted OR 0.58, 95% CI 0.44-0.79, P = 6.328×10-4, Ptrend = 2.053×10-4; Combined: adjusted OR 0.59, 95% CI 0.47-0.76, P = 7.167×10-5, Ptrend = 8.905×10-6). \n\nConclusion: Our study indicated that rs1534997 of CHD5 might protect against the risk of paranoid schizophrenia in a dose-dependent manner.

This paper which approved by Yerevan state university is a part of research collusion, it analyzes effect of surface grooves on the Counterpunch, and friction coefficient on the pipe wall surface of Hydro forming Process in cross shaped and T joints production. \nThe simulation results justifies the groove on the counterpunch surface causes changes of thickness in bulged region. More over these results show that thickness distribution is a complex function of friction coefficient.

The objective of the broadband\nwireless technologies is to ensure the end to end Quality of Service (QoS) for the service classes.Wimax is a revolution in wireless networks,\nwhich could support real time multimedia\nservices. In order to provide QoS support and efficient usage of system resources an intelligent scheduling algorithm is needed. The design of the detailed scheduling algorithm is a\nmajor focus for researchers and service\nproviders. In this paper, a channel aware crosslayer scheduling algorithm for Wimax networks has been proposed. This scheme employs the Signal to Noise Ratio (SNR) value,which allocates the bandwidth based on the information about the quality of the channel,and the service requirements of each connection. The proposed algorithm is described in detail, and evaluated with one VOIP codec and real time video traffic,\nthrough a series of simulations. The QoS\nparameters of throughput, packet loss, average delay and average jitter have been measured in simulation.

This article presents a new sign criterion to determine the stability and root locations of the Linear Time Invariant Discrete Systems (LTIDS) and is pertinent to both real and complex coefficient polynomials. The proposed criterion is synthesized from the Jury‟s method for stability which is derived from the characteristic polynomial coefficients of the discrete system. The numbers of roots lying outside the unit circle (OUC), inside the unit circle (IUC) and hence on the unit circle are directly determined from the proposed single modified Jury tabulation and the sign criterion. The presented scheme is simple and illustrations are given to bring out the merits of the proposed scheme for all singular, nonsingular cases.

Focusing on high-quality construction, and improving seismic performance of under-construction buildings on one hand, and rapid elimination of housing shortages and/or other spaces and buildings required in the country on the other hand, clarify application of the modern technologies instead of inefficient and traditional systems. Hence, the main aim of this study is to reorganize, prioritize, and determine the status of full construction systems using industrial production methods. In this study, each of the technologies has been evaluated from two main structural and architectural perspectives. In order to obtain the predefined objective, the main element of the research has been studied within the three criteria of quality, economy and speed. It is hoped that every technology will find its special\nposition in the building industry in terms of capability of construction and operation. With due observance to the above mentioned subjects, and in accordance with the results of the present study, common construction methods in the country have not met demands of mass housing construction. Among industrial construction systems, although Light Steel Frame (LSF) has obtained higher status than others have, however, it needs to be modified in order to improve its performance and obtaining better ranking among other technologies

With the advent of economic developments and industrial companies in the world, the phenomenon of the separation of ownership from management was introduced. This phenomenon is due to the inherent differences between the owner and manager of the utility function that creates a conflict of interest. Representation theory first by Berl and means (1932), Spence and Zikasr (1971), Ross (1973), Stiglitz (1974), Bimen (1975) and Jensen and Mackling (1978) introduced and described. In theory the representative director of the company and shareholders as owners are considered.

The research enters the ontology of human communication. It starts from an accredited real communicative situation, a Herodotus’ historic fragment where he narrates the incursion of King Darius in the Scythians’ country, during which he receives a gift-message: a bird, a mouse, a frog, and five arrows. It investigates the symbolic communicative functioning of the iconic-object code and of the gift code in the message processing.\n In relation to the used codes, the icon-object one and the gift one produce a message. Any coded signal received from a “transmitter” is interpreted as a quasi-message. We formulate the principle of the irrepressible emergence of the message: the human impulse to communicate is so urgent that the message is built irrepressibly.

Mammography is commonly used for early cancer detection in women breast. The presence of microcalcification clusters in the digital mammograms is the significant indication of breast cancer and their nature is not necessarily malignant. It is very difficult task to distinguish between benign and malignant clusters. In this paper, a novel classification approach for classifying microcalcification clusters based on framelet transform is proposed. The energies extracted from the framelet sub-bands in multilevel decomposition are used as features to classify the mammogram. A two stage classification based on SVM classifier is used to classify the unknown mammogram into normal or abnormal initially and then classified into benign or malignant if abnormal. A set of Mammography Image Analysis society (MIAS) database images is used in evaluating the proposed system. The performance of the proposed system is compared with standard wavelet transform. The results show that the framelet transform based classification provides better classification accuracy than the wavelet transform.

Abstract \nThis article aims at finding the root of the word Drooj in Avesta language and by deep analysis of structure of words in one hand and research in contrastive concepts on the other hand tries to hand out another form of the problem. In this view Drooj (means a satanically concept) in the realm of discourse fragmentations refers to contrastive analysis with goddess women in Pre-Aryans era and by contemplation in deeds of traditional Goddesses tries to describe linguistic and semantic changes of this satanic concept. The main focus of this document is based on quality of nature of Drooj and to find answer of this question, evidences analyze the feminine nature of Drooj that femininity feature of primary human customs and traditional goddesses is inferred.

This study proposes a Fuzzy Metagraph based Decision Support System (DSS) for short term and long term investment in share market. This rule base decision system will help traders to make correct decision at very low risk. Relative Strength Index (RSI), Moving Average Convergence Divergence (MACD) ,Stochastic Oscillator(S0) and Negative Volume Index(NVI) are some of the Technical Indicators which are used as input to train the system which is integrated with Fuzzy Metagraph. This approach of incorporating Fuzzy Metagraph with RSI, MACD ,SO and NVI would be a new attempt in decision making on share market investment. Stocks listed in Bombay Stock Exchange (BSE) in India are used to evaluate the performance of the system. The results obtained from the proposed Fuzzy Metagraph based model are found to be satisfactory with very low risk. Three most used technical indicators MACD, RSI ,SO and NVI integrated with Fuzzy Metagraph are used to support the system. This method reduces the risk factor considerably for both short term and long term investors.

Present study was designed to evaluate the effectiveness of toxicity of some botanicals and selective insecticides against Asian citrus psyllids Diaphorina citri Kuwayama which is a vector of huanglongbing or citrus greening and widely spread in citrus growing regions. In laboratory, cumulative mortality of adult D. citri with Confidor® (imidacloprid), Movento® (spirotetramat) and Radiant® (spinetoram) was more than 95% at commercially recommended doses. These three insecticides showed similar trend toward mortality of adult psyllids either applied through spray or leaf dip method. The cumulative mortality of adult psyllids was 77 % and 86% with spray and leaf dip method respectively. Datura showed 86% mortality of nymphs in leaf dip method. The mortality of adults after spray with Datura was 31% and after leaf dip treatment 60%. It concluded that the products we used in our study are effective against D. citri and due to their bio-based chemistries these are supposed to be less or nontoxic to beneficial insects and environment.

The Haralick statistical features based feature extraction along with Bayes classifier to classify the Osteoarthritis (OA) knee x-ray images is proposed. During feature extraction the Haralick features are extracted from the gray level co-occurrence matrix of the knee x-ray image at predefined angle with an offset of one pixel. In the classification module, the extracted features are fed into a Bayes classifier. Totally, 130 knee x-ray images are used for performance analysis. Initially, the performance of the proposed approach is analyzed by using the Haralick features extracted along a particular angle by using Bayes classifier. In order to improve the classification accuracy, fusion of Haralick features and also a hybrid approach by combining the type of smoother is used. The experimental results obtained are satisfactory.

Cloud computing is the methodology of out sourcing your infrastructure and application to run on a remote resource, this paves a new way of computing that allows users to avoid investments in hardware and software. In this environment various entities such as hardware, operating system, applications are provided as a service to the service requestors, since the data and resources are shared between the service providers and service requestors there must be a trust between the both to overcome the critical aspects of security, this trust should not be of just in words but it should be verifiable, this paper concentrates on the application of trusted computing in various levels of cloud computing to provide such trust and overcome the various security problems in cloud computing

In this paper we have analyzed the various algorithms used for reactive power optimization (RPO). The objective of an optimal power flow algorithm is to find the steady state operation point which reduces the generation cost, loss etc. Reactive power supply plays an important role in the power system. A properly designed optimal power flow solution provides the best and the most optimum practical solution to achieve improvement in a single or multiple hierarchical objectives based on the various constraints on the system. Traditionally, classical optimization methods were used to solve this problem, but due to its various limitations, modern methods have been proposed in this paper for the optimization of the reactive power. The purpose of this paper is to present the output of various reactive power optimization methods thus minimizing the real power loss also maintaining the voltage profile.