An Analysis of Path Planning for Autonomous Motorized Robots
Mobile robots are widely used in many industrial fields. Research on path planning for mobile robots is one of the most important aspects of mobile robots research. Path planning for a mobile robot is to find a collision-free route, through the robot’s environment with obstacles, from a specified start location to the desired goal destination while satisfying certain optimization criteria. Determination of a collision-free path for a robot between start and goal positions through obstacles cluttered in a workspace is central to the design of an autonomous robot path planning. This paper presents a comprehensive study on state of art mobile robot path planning techniques focusing on algorithms that optimize the path in the obstacle abundant environment. Simulation scenarios are performed in the perspective of single and multi-robot path planning and the experimental results show the best performing path planning technique in the corresponding scenario. This paper intends to give assistance in the better understanding of the path planning techniques and also guide researchers to formulate novel techniques for better path planning in both single and multi-robot environments.
Published by: S. Sedhumadhavan , E. Niranjana
Author: S. Sedhumadhavan
Paper ID: V3I6-1424
Paper Status: published
Published: December 23, 2017
Serum Uric Acid as An Early Marker of Injury Severity in Trauma Patients: A Cross-Sectional Study at a Ugandan Tertiary Hospital
Background: Trauma is still the leading cause of death in many regions of the world. Several severity scores have been developed to assist in the management of trauma victims. The Injury Control Centre in Uganda developed the Kampala Trauma Score (KTS II) for use in resource-limited settings. With the limitations of the existing trauma scoring systems, there is a need to explore new, affordable, easy to use accurate diagnostics. Some studies in high-income countries have shown that Serum Uric Acid (SUA) has been previously shown to be elevated in trauma and serves as an Alarmin. The aim of this study, therefore, was to determine the correlation between SUA levels and injury severity in trauma patients in a resource-limited setting. Methods: An analytical, single-center, cross-sectional study carried out at a tertiary hospital AE unit in Kampala. Trauma patients aged ≥18 years presenting within 24 hours after injury were recruited consecutively after obtaining a written informed consent. Injury severity was determined using the KTS II scoring system and venous blood was drawn for SUA assay. Data were analyzed and the correlation of SUA levels with severity of trauma as defined by KTS II was made. Results: A total of 154 patients was recruited with a male to female ratio of 5.4: 1. Road traffic crashes (RTC) were the commonest (64%) cause of the injury; pedestrians were involved in 30% of the cases. The correlation between SUA levels and severity between injury was depicted by the area under the receiver operator characteristics curve = 0.6015. Conclusion: Serum uric acid was a poor prediction of severity of injury among trauma patients in this low resource environment.
Published by: Okwi Nick, Galukande Moses, Rukundo Gideon
Author: Okwi Nick
Paper ID: V3I6-1418
Paper Status: published
Published: December 23, 2017
A Robust and Verifiable Threshold Multi-Authority Access Control System in Public Cloud Storage
Attribute-based Encryption is observed as a promising cryptographic leading tool to assurance data owners’ direct regulator over their data in public cloud storage. The former ABE schemes include only one authority to maintain the whole attribute set, which can carry a single-point bottleneck on both security and performance. Then, certain multi-authority schemes are planned, in which numerous authorities distinctly maintain split attribute subsets. However, the single-point bottleneck problem remains unsolved. In this survey paper, from another perspective, we conduct a threshold multi-authority CP-ABE access control scheme for public cloud storage, named TMACS, in which multiple authorities jointly manage a uniform attribute set. In TMACS, taking advantage of (t, n) threshold secret allocation, the master key can be shared among multiple authorities, and a lawful user can generate his/her secret key by interacting with any t authorities. Security and performance analysis results show that TMACS is not only verifiable secure when less than t authorities are compromised, but also robust when no less than t authorities are alive in the system. Also, by efficiently combining the traditional multi-authority scheme with TMACS, we construct a hybrid one, which satisfies the scenario of attributes coming from different authorities as well as achieving security and system-level robustness.
Published by: Manisha More, Shital Y. Gaikwad
Author: Manisha More
Paper ID: V3I6-1402
Paper Status: published
Published: December 23, 2017
Comparative analysis of Traditional SCADA systems and IoT implemented SCADA
SCADA system stands as an abbreviation of Supervisory Control and Data Acquisition. It focuses on the supervisory level and is not a full control system. It is a computer system which gathers and analyses real-time data. They are useful in monitoring and controlling a plant or industrial equipment like telecommunications, water, waste control, energy, oil-gas refining, and transportation. It gathers information about a mishap, transfers it back to a central site and alerts the home station about the mishap, carries out necessary analysis and control, like determining if the mishap occurred is critical, and display the information in a logical and organized fashion. They can be relatively as simple as a system which monitors environmental conditions of a small office building, or as complex as a system that monitors all the activity in a nuclear power plant. IoT acts as a complementary setup to SCADA. SCADA system generates information which acts as one of the data sources for IoT. While the focus of SCADA on monitoring and control, the focus of IoT is firmly on analyzing machine data to improve productivity.
Published by: Ram Dhobley, Abhay Chopde
Author: Ram Dhobley
Paper ID: V3I6-1407
Paper Status: published
Published: December 23, 2017
Precocious Puberty Age – A Survey Report in Pipri (Meghe)
The aim of the present survey was to examine the critical study of early puberty age in girls and boys separately, with reference to the Pipri (Meghe), Wardha. The critical study of the puberty was influenced by many factors like present condition of hormones and physical appearance, mostly found in India. The physical and mental changes occurred during pubertal age found in girls and boys were studied through a systematic research with the survey. The researcher employed a research design in which self-administered systemic questionnaires were used to collect data from a sample of 30 students from the school. Data were analyzed using the statistical package, and in particular, using means and the independent t-test. Results reflect 60-80% of girls and boys cause’s early puberty and only 60 -70% girls having extreme pain and feeling uncomfortable during their periods, 35% of students can’t give any information regarding their physical changes in the body whereas about 90% of them showed skin changes and early pitch of the voice. From the present investigation, one can give the conclusion that puberty occurs early at the age of 9-13 years in girls whereas 14-15 years in boys. Special attention and monitoring the lifestyle patterns of individuals can resolve such puberty related problems scientifically.
Published by: Purohit M. Y, Mundhada D. R, Bawankar R. D, Dr. Jha R. N
Author: Purohit M. Y
Paper ID: V3I6-1358
Paper Status: published
Published: December 23, 2017
Prototype of a Waste to Energy Landfill Proposed for Kolhapur City
Landfill gas is the gas that is extracted from landfills after the waste in landfill starts degrading. Space utilization to dispose of waste is one of the major concerns in every metropolitan. The general trend of disposing of waste is by dumping it openly and then either burning it or by keeping to degrade. In this paper, we intend to design a landfill for treating the waste of Kolhapur city in 4 different landfill sites and extract the gas from each landfill to further use it for energy generation. Further, we also intend to provide a natural liner material by using a combination of bentonite and GCL. We have compared the economics of landfilling procedure and energy generation thus providing an alternative to transform waste into energy. The waste that is dumped openly proves to be hazardous as the continuous fumes due to fugitive emissions leads to degradation in the air quality and also leads to spontaneous combustion. The dumping site in Kolhapur is spread over 60 acres and the problem of spontaneous combustion is a menace for the people living in the neighboring areas. A landfill site would solve the problem of disposing of the waste and also lead to effective space utilization.
Published by: Varun Taneja, Aditya Patil
Author: Varun Taneja
Paper ID: V3I6-1447
Paper Status: published
Published: December 23, 2017
