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DESIGN OF STATE RAIL AND BUS TRANSPORTATION SCHEME WITH BI-LEVEL OPTIMIZATION MODEL K. Pavlova, T. Stoilov Key Words Optimization; network design; bi-level optimization; rail public transportations Abstract The increase of the rail public transportations is searched in directions for redistribution of the passenger travels between rail and bus transportation. The rail transport benefits by increasing it schedule for places where the transportation capacities on appropriate directions is not achieved. A mathematical model has been derived to assess the potential of the rail passenger transport to increase his capacity and efficiency. This potential has been evaluate in comparison with the competition of the bus transportation. A specific transportation route has been chosen from Sofia to Varna and the potential for increase of the rail transport has been evaluated. The mathematical model uses bi-level optimization problem, related to the evaluation of a maximal flow in a transportation network Article PDF Download article (PDF)

INVESTIGATION AND DEVELOPMENT OF IOT BASED SOLUTIONS FOR IMPLEMENTATION THE CLOUD TECHNOLOGIES IN THE ENERGY SYSTEMS CONTROL P. Yakimov, A. Iovev Key Words Cloud computing; infrastructures for industrial informatics; IoT; sensor networks; Smart grids. Abstract The paper considers the possibilities for implementation the Cloud technologies in the energy systems control and the expected benefits from this. The trends in the electric energy systems development and the challenges in front of the control are summarized. It is obvious that the introduction of information and communications technologies is unavoidable in order to achieve the main goals – effective, reliable, sustainable and safe operation of the energy system. A possible scenario is the development of a modern metering infrastructure based on smart sensor networks. Development and implementation of Internet of Things oriented solutions is expected to help the introduction of Cloud computing in the industrial and home energy management systems. Two models of IoT based solutions are explained. They consider the approaches for Internet connectivity of modern and legacy measurement and control equipment. Experimental results are given Article PDF Download article (PDF)

INTERACTION OF A HUMANOID ROBOT NAO WITH A NON-HUMANOID WALKING ROBOT A. Krastev, I. Chavdarov, M. Dimitrova Key Words Robot; sonar Abstract The paper considers a novel algorithm for performing joint tasks between a humanoid robot NAO and a low-budget (Low-Cost) walking robot Big Foot. The specific construction of Big Foot allows movement by walking, change of direction and overcoming obstacles by using only two engines. The principle of movement of Big Foot is presented and the parameters, which determine the step and velocity of movement, are discussed. NAO robot sets the beginning of task execution and controls reaching the target position by the non-humanoid robot. NAO sonars are employed for this purpose. The non-humanoid robot Big Foot is controlled remotely by a human. The information on the timing of the executed movements and the reaching of the target is collected in several ways by using the sensors of NAO and Big Foot. The obtained results are analysed. Possibilities for application of the proposed algorithm are discussed Article PDF Download article (PDF)