Extension of Coding CEVNI Signs and Marking for European Waterways
This paper presents a new method of coding for signs and marking, which is based on the extension of signs and marking described in Annexes 7 and 8 of the European Code for Inland Waterways (CEVNI). Being members of three European expert groups, we have proposed these new codes of waterway signs and marking and recommend them for cases where they can be efficiently used. The main goal is to enable the use of these codes in databases, GIS systems and Web applications for efficient maintenance of waterway information. In addition, they will also contribute to international data exchange for creating standardised electronic messages described by ERI and NtS working groups. The intention is not to amend the existing coding from the Inland ECDIS Standard, which was developed for creation of Electronic Navigation Charts (ENCs). For example, the use of these new codes is tested through the Web GIS application for presentation of inland waterway signs and marking on the Danube River in Croatia. The application examples concern automatically generated reports on the position, characteristics and functioning of different waterway signs and river navigation marking located on the digital map.
Application of GIS and Web technologies for Danube waterway data management in Croatia
Abstract The paper gives a general description of the Danube waterway data management in Croatia at both national and Pan-European levels. For these purposes, we initiated the development of a specialized geographic information system (GIS), the so-called River IS, which provides efficient waterway related data management for the Croatian part of the Danube River. In addition, Croatian activities in the Pan-European programme Consortium Operational Management Platform River Information Services (COMPRIS) and INTERREG project data warehouse for the Danube waterway (D4D) are described. Focusing on how to solve the major problems identified by “GIS Forum Danube” expert groups, we present our solutions for two important D4D project objectives. The first project objective concerns preparation of national GIS data of the participating countries in the world geodetic WGS84 coordinates as well as checking the transnational compatibility of GIS data. The second important project objective concerns the development of a commonly agreed catalogue of object types and their attributes necessary to describe waterway related data. For example, the conversion of the Croatian national geographic data into Inland ECDIS digital navigation maps is described.
Kinematic Modelling and Simulation of a 2R Robot Using SolidWorks and Verification by MATLAB / Simulink Regular Paper
The  simulation  of  robot  systems  is  becoming very popular, especially with  the  lowering of  the cost of computers,  and  it  can  be  used  for  layout  evaluation, feasibility studies, presentations with animation and off‐ line programming. The  trajectory  planning  of  redundant manipulators  is  a very  active  area  since  many  tasks  require  special characteristics  to  be  satisfied.  The  importance  of redundant manipulators has  increased over  the  last  two decades  because  of  the  possibility  of  avoiding singularities  as  well  as  obstacles  within  the  course  of motion.  The  angle  that  the  last  link  of  a  2  DOF manipulator makes with the x‐axis is required in order to find the solution for the inverse kinematics problem. This angle  could  be  optimized  with  respect  to  a  given specified  key  factor  (time,  velocity,  torques)  while  the end‐effector  performs  a  chosen  trajectory  (i.e., avoiding an obstacle) in the task space. Modeling  and  simulation  of  robots  could  be  achieved using  either  of  the  following  models:  the  geometrical model (positions, postures), the kinematic model and the dynamic model. To  do  so,  the  modelization  of  a  2‐R  robot  type  is implemented. Our main  tasks  are  comparing  two  robot postures with the same trajectory (path) and for the same length  of  time,  and  establishing  a  computing  code  to obtain the kinematic and dynamic parameters. SolidWorks  and MATLAB/Simulink  softwares  are  used to check the theory and the robot motion simulation. This  could  be  easily  generalized  to  a  3‐R  robot  and possibly therefore to any serial robot (Scara, Puma, etc.). The verification of the obtained results by both softwares allows  us  to  qualitatively  evaluate  and  underline  the validityof  the  chosen  model  and  obtain  the  right conclusions. The results of  the simulations are discussed and an agreement between the two softwares is certainly obtained.