![I04 THE TRAVELS OF FRIAR ODORIC world. For there is
not on the face of the earth any kind of provision, or any species of
goods, but you will find great store thereof at Tauris. It is admirable
for situation, and so opulent a city that you would scarcely believe
the things to be found there ; for the whole world, almost, hath
dealings with that city for merchandise. And the Christians will tell
you that the emperor^ there hath more revenue from that one city
than the king of France hath from his whole realm. Near that city is
a mountain of salt, which furnisheth great store of salt for the whole
place. And of this salt taketh every man as much as he listeth, and
payeth nothing to any man^. In that city, also, there dwell many
Christians of every description, 'but the Saracens have the rule over
them in all things. And there are many things else to be said of that
city, but it would take too long to relate them. Departing from this
city of Tauris, I travelled for ten days, and reached a certain city
called SOLDANIA^, in which ^ The Emperor of Persia at this time
was the son of Mohammed Khudabendeh, Abu Said Bahddur Khan,
the last of the Mongol dynasty who had real power; he died 13 Rebi
aul akhir 736. ^ I do not find recent mention of this salt mine. But
Ricold de Montecroce, in entering Persia from this side, speaks with
wonder of its mountains of salt, which had to be quarried like stone
and broken with iron tools ; whilst the Arabian geographer Bakui
notices specifically at Tabriz a mountain of salt, which is extracted
in blocks, and Chardin also speaks of an important salt mine close
to the city. {Peregrin. Qual.., p. 122 ; Notices et Extraits., ii, 477 ;
Chardin., i, 258.) ^ Sultaniah was built as a royal residence by
[Arghun and finished by] Olja'itu, son of Arghun, the eighth of the
Mongol Khans of Persia, in 1305. Long after the destruction of the
city by Timur, indeed into the seventeenth century, the tomb of
Olja'itu was still magnificent, and especially noted for its colossal
gates of damasked steel. The city was reoccupied by some of the
Persian kings in the sixteenth century, till Shah Abbas transferred the
seat of government to Ispahan. The ruins were of vast extent in
Chardin's time. The present Persian dynasty has again adopted
Sultaniah as a summer residence. Pope John XXII set up an](https://image.slidesharecdn.com/79989-250728230544-9c033d20/85/Robotics-Automation-and-Control-in-Industrial-and-Service-Settings-1st-Edition-Zongwei-Luo-27-320.jpg)
![archbishopric at Sultaniah in 1318, in favour of Francis of Perugia, a
Dominican, and the series of archbishops is traced down to 1425,
[with Thomas de Abaraner occupying the See]. {Deguignes., iv, 277,
279; Barbaro in Ramus., ii, T05; Chardin, i, 271 ; Le Quien, iii, 1
359-1 368 ; De Sacy in Mc'm. de PAcad. des Inscr., vi, 503 seq.)](https://image.slidesharecdn.com/79989-250728230544-9c033d20/85/Robotics-Automation-and-Control-in-Industrial-and-Service-Settings-1st-Edition-Zongwei-Luo-28-320.jpg)
![THE TRAVELS OF FRIAR ODORIC IO5 dwelleth the emperor
of the Persians in the summer season But in the winter he goeth to
a certain other place [called Axam]'- which is on the sea called the
sea of Bacuc^ This city (of Soldania) is a great one, and a cool
place, with an excellent supply of water, and many costly wares are
brought thither for sale*. 1 [Nella quale a iin luogo de' Frati
Predicatori, e uno de' Frati Minori. Pal.] 2 Boll. 3 The Caspian was
very generally called so in the middle ages, from Baku, the chief port
on the western shore. The archives of Genoa contain a curious
document relating how, in 1374, one Lucchinus Tarigus of that city,
with certain comrades as penniless as himself, started from Caffa
with a fusta or light galley, which they took up the Don, and dragged
sixty miles overland to the Edil (Volga), and so descended to the Sea
of Bacu, which they scoured, taking many prizes and much plunder,
with which they returned, abandoning their vessel. On their way
back, however, the heroes of this surpassing feat of buccaneering
were taken and stript of much of their gains. (Graberg de Hemso,
Annali di Geog. e di Stattist.^ ii, 290.) [See Yule's Marco Polo, i, p.
59. In the French version of Odoric this sea is called Sea of Bascon.
The latter name is a corruption of Abeskun, a small town and island
in the S.E. corner of the Caspian Sea, not far from Ashurada.] The
Bollandist version says the winter quarter of the Emperor on the sea
was called Axavi. The usual winter resort of the Il-Khans was the
plain of Moghan, on the Caspian, near the mouth of the Kur, which
had been the quarter to which the hosts of their predecessors used
to retire after their annual ravages. Axam (Asham.'') might however
be Aujan, not far from Tabriz, which was often the spring and winter
camp of the later Il-Khans, the Hujan of Clavijo, and where Gazan
Khan built a fine city {D'Ohsson, v, 277 ; Ouatremere's Pas/lid, pp.
21-23). ^^^^ i'* that case the mention of the sea of Baku is a
mistake. If not, it may perhaps be Acta/n, which is several times
mentioned in the life of Timur, as a place on the plain of Mog'han
where he used to pitch, especially for great hunting matches.
{Cliereffeddin, by Petis de la Croix, ii, 390; iii, 208, 398 ; D^Ohsso/i,
iv, 151, 483.) * [ Ce n'est my Somdoma jy une des V citez sur](https://image.slidesharecdn.com/79989-250728230544-9c033d20/85/Robotics-Automation-and-Control-in-Industrial-and-Service-Settings-1st-Edition-Zongwei-Luo-29-320.jpg)
![lesquelles Dieux fist plouvoir feu et soufTre en vengence de pechie
contre nature qui regnoit en eulx comme dit la Sainte Escripture. Car
ces V villes furent jadis en la Terre Sainte de promission, en ce lieu
qui est ore la Mer Morte. Et ceste Somdoma dont nous parlous si siet
ens ou royaume de Persie. Jean Le Long. — This passage is omitted
in Act. S. and in Ram. A.]](https://image.slidesharecdn.com/79989-250728230544-9c033d20/85/Robotics-Automation-and-Control-in-Industrial-and-Service-Settings-1st-Edition-Zongwei-Luo-30-320.jpg)
![I06 THE TRAVELS OF FRIAR ODORIC 3. Concerning the
City of the Magi ; also of the Sea of Sand, and of the Land of Huz.
Departing from this city with a caravan, that is to say with a certain
company, I proceeded in the direction of Upper India, and after
travelHng that way for many days I halted at the city of the three
Magi, which is called Cassan, a royal city and of great reputed But
the Tartars have greatly destroyed it. It is a city which aboundeth
greatly in bread and wine, and in many other good things. From this
city to Jerusalem, (whither the Magi found their way, not surely by
human strength but by Divine strength working by miracle, seeing
how quickly they went^), is a good fifty days''' journey. And there be
many other things with regard to that city which it boots not much
to rehearsed ^ Instead of this. Pal. has: I came to the city of Saba,
the place whence the three Magi came. ^ [Li troy Roy c[ui de
ceste cit^ de Cassan furenten XIII journees amene en Jherusalem
par vertu divine et non humaine. Jean Le Long.] 3 [Piu di LX.—
Mm. Ram.— Sessanta giornate.— Pal.] * Qashan, a city of Persia,
still tolerably flourishing, standing about halfway between Ispahan
and Tehran, and also about halfway between Sultaniah and Yezd,
long noted for its brocades and velvets, and also for its scorpions
[and its fine pottery, called Qaschi Sir T. Herbert alludes to the story
of the Magi coming from Qashan, but as he quotes Odoric I suspect
his knowledge was derived from him only. For it is remarkable that in
the Palatine and Minor Ramusian versions of Odoric, it is at Saba,
and not at Qashan, that he speaks of the Magi. And this agrees with
Marco Polo, who places at Sava the origin and sepulchres of the
three kings. One he says was King of Sava, another of Ava, the third
of the castle of the fire-worshippers. [ Marco Polo states that he '
found a village there which goes by the name of Cala Ataperistan
{i.e. Kal'-nh-i Atashparasfan), which is as much as to say The Castle
of the Fire-Worshippers. And the name is rightly apphed, for the
'peoplethere do worship fire! ' In an article entitled The Magi in
Marco Polo [Jour. Am. Or. Soc., 26, 79-83] I have given various
reasons for identifying the so-called ' Castle of the Fire-Worshippers'
with Kaschan, which Odoric mentions, or a village in its vicinity, the](https://image.slidesharecdn.com/79989-250728230544-9c033d20/85/Robotics-Automation-and-Control-in-Industrial-and-Service-Settings-1st-Edition-Zongwei-Luo-31-320.jpg)
![only rival to the claim being the town of Nain, whose Gabar Castle
has already been mentioned above. (Jackson, Persia, p. 413.)] Both
Saba and Ava still exist between Sultaniah and Qashan, or at least
their names and remains do. They retain no traditions now about the
kings. (Cf A. V. Williams Jackson, /'t'rj/^i, pp. 412-413.) Herbert
observes that various authors have brought the Magi from Babylon,
Shushan, Hormuz, and Ceylon, to which we may add that](https://image.slidesharecdn.com/79989-250728230544-9c033d20/85/Robotics-Automation-and-Control-in-Industrial-and-Service-Settings-1st-Edition-Zongwei-Luo-32-320.jpg)
![THE TRAVELS OF FRIAR ODORIC lO/ Passing thence I
travelled to a certain city called Iest [which is the furthest city of
Persia towards India-], from which the Sea of Sand is but one day
distant. Now that sea is a wondrous thing, and right perilous^ [And
there were none of us who desired to enter on that sea. For it is all
of dry sand without the slightest moisture. And it shifteth as the sea
doth when in storm, now hither, now thither, and as it shifteth it
maketh waves in like manner as the sea doth; so that countless
people travelling thereon Armenian tradition brings them from Lake
Van, Haiton the Armenian from Chinese Tartary, and John de'
IVIarignolli from the Indian Archipelago. It was impossible to bring
the wise men of the East from Europe, so they were taken there
after death, surely by the strangest fable ever invented ! It is most
likely that the location of the wise men at Saba in Persia rose out of
a misapplication of Psalm Ixxii, lo : The kings of Tarshish and the
Isles shall bring presents : the kings of Sheba and Seba shall offer
gifts P And it was probably through some mistake in dictation that all
the versions of Odoric but the two mentioned refer the Magi to
Oashan instead of Saba. {Chardiii^ i, 297, 300, 301 ; Herberfs
Travels; Haiton^ ch. ii ; Assenianni^ p. 750 ; Abbott in_/. R. G. S.,
xxv, p. 6.) ^ Yezd, occupying an oasis in the great Persian desert, is
mentioned by Barbaro in the following century as a most industrious
place, flourishing by its silk and cotton manufactures, and supplying
with these a large part of Asia. [Heyd, Commerce du Levant^ 11, p.
log, sa)'s the inhabitants of Yezd wove the finest silk of Taberistan.
— Marco Polo calls this silk Yasdi? These manufactures still
continue. Many important caravan routes converge at Yezd, whilst
the desert has given it security, and thus it has become a
considerable mart. The figs [called misqali pomegranates, grapes,
and melons of the oasis are noted. The small raisins, not very much
larger than Greek currants, are well known in India, into which they
are largely imported under the name of Kishinis; perhaps from the
island of Kais or Kish [Quisci, of Marco Polo, I, pp. 64-5 ; II, p. 453],
from which the trade to India was conducted? Yezd is regarded as
holy by the Alussulmans ; a sanctity perhaps borrowed from the fire-](https://image.slidesharecdn.com/79989-250728230544-9c033d20/85/Robotics-Automation-and-Control-in-Industrial-and-Service-Settings-1st-Edition-Zongwei-Luo-33-320.jpg)
![I08 THE TRAVELS OF FRIAR ODORIC have been
overwhelmed and drowned and buried in those sands. For when
blown about and buffeted by the winds, they are raised into hills,
now in this place, now in that, according as the wind chanceth to
blow] In this city of lest there is very great store of victuals and all
other good things that you can mention ; but especially is found
there great plenty of figs ; and raisins also, green as grass and very
small, are found there in richer profusion than in any other part of
the world. This is the third best city which the Emperor of the
Persians possesses in his whole realm. The Saracens say of it that no
Christian is ever able to live in it beyond one year. And there are
many other matters there. Departing thence, and passing by many
cities and towns, I came to a certain city by name COMERUM,
which formerly was a great city, and in the olden time did great
scathe to the Romans. The compass of its walls is a good fifty* miles
and there be therein palaces yet standing entire, but 1 From MiN.
Ram. Whatever may be the exaggeration in this interpolated
passage, as regards the Persian desert, the absolute extravagance of
the account will seem less to those who will refer to the description
by Baron Wrede of the desert in Southern Arabia, called '' The Sea of
Saffi, from a king who is said to have perished with his army therein
{J. R. G. S., xiv, p. iio-iii). Tavernier also speaks of the danger of
being lost in the desert of Yezd, on account of the mobility of the
sand. ^ The readings of this name are very various (see Latin text).
But both Odoric's description and the manner in which I understand
his route, seem to identify the remains of which he speaks with
those of Persepolis. [ The earliest mention of the Persepolitan ruins,
of which I am aware by a European writer, is that of Friar Odoricus.
Curzon, Persia, ii, p. 130.] The name Coinet-um will then probably
represent the grossa villa of Cainara, at which Barbaro places the
ruins, and this is perhaps the same with the Kinat^a of Rich. [But
Barbaro saw in Persepolis a work of Hebrew origin, instead of the
ruins of Cyrus' Palace.] The great platform and columns of the
palace, probably then more perfect than now, and the vast circuit
assigned to the ruins by Persian tradition, varying from twelve to](https://image.slidesharecdn.com/79989-250728230544-9c033d20/85/Robotics-Automation-and-Control-in-Industrial-and-Service-Settings-1st-Edition-Zongwei-Luo-35-320.jpg)
![forty-four parasangs (forty to a hundred and fifty miles, the former
estimate not exaggerated if the remains in that neighbourhood be
supposed within the compass of one city), answer well to the brief
words of our traveller. ^ [Ejus autem muri bene quadraginta
milliarium sunt capaces. —Boll.]](https://image.slidesharecdn.com/79989-250728230544-9c033d20/85/Robotics-Automation-and-Control-in-Industrial-and-Service-Settings-1st-Edition-Zongwei-Luo-36-320.jpg)
![THE TRAVELS OF FRIAR ODORIC IO9 without inhabitants.
It aboundeth however in many kinds of victual. Leaving this and
going on through many towns and cities I reached the city called
Huz wlijch abounds in all kinds of victuals, and is beautifully
situated ^ For near this city are mountains, which afford in great
abundance the finest of pastures for cattle. There also is found
manna of better quality and in greater abundance than in any part
of the world. In that country also you can get four good partridges
for less than a Venetian groat. In those parts also you see very
comely elders; and 'tis the custom there for the men to knit and
spin, and not the women. And this land adjoineth the extremity of
Chaldaea towards the Norths 1 Some copies have the land (or city)
of Job; others the land of Job, called Huz (see Latin text).— [Un—
Boll.] 2 The Huz of Odoric I at first supposed to be Ahwaz (or
Hawaz), or some other city of Khuzistan. Assemanni in Latin calls
that country Hiizia, and sometimes Huzitis ; whilst Magini in Italian
calls it Cns. Job's name, which appears in many copies, is probably
an interpolation suggested by the name of the country. However,
Chardin tells us that Mayn, north-west of Shiraz, was pointed out as
the residence of Job; and probably the nearest approximation in
modern times to the Patriarch's wealth in cattle is to be found
amongst the nomad chiefs of Persia. It is, however, more probable
that the Huz of Odoric is the Hasah of Eastern writers, frequently
coupled with Mosul, and identified by Assemanni with Adiabene (see
Assemaimi, pp. 5, 11, 12, 13, 2og, 710). This would certainly be
more consistent with the accuracy of the last clause of the chapter. 2
I suppose Odoric to pass through a part of the hill country of
Luristan or the regions adjoining, if he does not indeed proceed
north as far as Mosul, before descending into Chaldasa. The fine hill
pastures, abundant manna, profusion of partridges, and fine old
men (many of them, says an authoritj' quoted by Ritter, attaining
a hundred years in full possession of their bodily and mental
faculties), are all characteristic of the mountains of Kurdistan,
embracing the Huz of Odoric according to the second interpretation
just given, though I can find little of a specific kind on record- as to](https://image.slidesharecdn.com/79989-250728230544-9c033d20/85/Robotics-Automation-and-Control-in-Industrial-and-Service-Settings-1st-Edition-Zongwei-Luo-37-320.jpg)
![no THE TRAVELS OF FRIAR ODORIC 4. Fr. Odoric treateth
of the manners of the people of Chaldaea ; of India within land ; and
of Ormes. Departing thence I went into Chald.ea which is a great
kingdom, and as I went thither I passed by the Tower of Babel,
which is distant perchance four days' journey from (the city-). And in
this land of Chaldsea they have a language of their own^; and the
men are comely, but the women in sooth of an ill favour^ The men
indeed go smartly dressed and decked as our women go here, and
on their heads they wear a kind of fillet of gold and pearls ; whilst
the women have nothing on them but a miserable shift reaching to
the knees, and with sleeves so long and wide that they^ sweep the
ground. And they go barefoot with drawers hanging about their
feet, and their hair 1 Though he calls Chaldsea a great kingdom, he
would appear to mean the city of Baghdad. The peculiar language
would be Arabic. Hitherto he has been in countries that speak
Persian chiefly. 2 Ab ed, i.e., Chaldcsd, showing that Baghdad is
meant, which is about sixty miles from the Birs Nimrud, and
somewhat less from the ruins of Babylon. Probably the mass called
Babel at the latter is Odoric's Tower (see note to MarignoUi iiifra). It
is not clear, however, how Odoric should have come by this to
Baghdad. [Dieulafoy's Itinerary might give the explanation :
Baghdad, Amarah, Dizful, Susa, Shuster, Ahwaz.] 3 [Nella detta
Caldea est vero idioma Caldeo. Qual noi chiamamo lingua caldea. —
Ram. A.] ^ In countries where Mahommedan manners prevail, and
now including India, the women in the streets have a much meaner
appearance than the men, because women of the better class are so
little seen. Of the women of Baghdad Ker Porter says : The
humbler females generally move abroad with faces totally unveiled,
having a handkerchief rolled round their heads, from beneath which
their hair hangs down over their shoulders ; their garment is of a
shift form reaching to their ankles, open before, and of a grey colour.
Their feet are completely naked. {Travels^ ii, 268.) ^ [Sorabules
en caldien, sont braies en frangois. — Jean Le Long.]](https://image.slidesharecdn.com/79989-250728230544-9c033d20/85/Robotics-Automation-and-Control-in-Industrial-and-Service-Settings-1st-Edition-Zongwei-Luo-39-320.jpg)
![THE TRAVELS OF FRIAR ODORIC III neither plaited nor
braided, but in complete dishevelment; and as here among us the
men' go first and the women follow, so there the women have to go
before the men. [Here I saw a young man who was taking to wife a
beautiful young woman, and she was accompanied by other
beautiful maidens, who were weeping and w^ailing, whilst the
young bridegroom stood by in very gay clothes, with his head
hanging down. And by and b}'e the young man mounted his ass,
and the bride followed him barefoot and wretchedly dressed, and
holding by the ass, and her father went behind blessing them until
they reached the husband's house-.] And many other matters there
be in this city which it booteth not greatly to detail. So going thence
I came to inland Indian a region which the Tartars have greatly
wasted'*. And there you find people-' who live almost entirely on
dates, and you get Diet, des VeteJiients ches les Arabes, p. 233.)
Ricold Montecroce says the Nestorians thought the sacrament
profaned if any one entered with the head covered or without
Sorrabnla. Whereon his German editor says : '''' Socc2.hia. fortasse
sunt socci., calceortun genus. Dueangiuvi fricstra cojisiihii, qui nee
Sorrabula Jiabeat nee Soccabula {Peregrin. Med. ^v. IV, etc.,
Lipsiae, 1864, p. 129.) But if he had given Dueangius a Httle more
tether in spelHng he would have found not only Sarabula., but
Serabula., Saraballa, Sarabella., Sarabola, Sarabara^ and yet more !
The Bollandist Odoric has Serobullas, a sheer error; but Ducange has
inserted it as iiiiiliebris vestis on that authority. [Arabic, serwal; it is
the seroual of the French zouaves.] 1 [les valles.— J. Le Long.] 2
From MiN. Ram. 3 [ Inde la maiour. — J. Le Long.] * '''' India quce
est infra terram. The infra is to be taken in the Italian sense. It is
plain that he means some region adjoining the Persian Gulf, and the
following extract illustrates the matter more precisely: ' The Talmudic
writers. ..confounded Obillah [on the Lower Euphrates] with the
Mosaic Havilah...and thus rendered Havilah everywhere by Hi7ideki
or India, precisely as the early Arabs state that Obillah is also called
Hind or India, and as the people of Basi'ah still constantly speak of
the districts at the mouth of the river as Hind, from the circumstance](https://image.slidesharecdn.com/79989-250728230544-9c033d20/85/Robotics-Automation-and-Control-in-Industrial-and-Service-Settings-1st-Edition-Zongwei-Luo-40-320.jpg)
![of their being the nearest points to India, and the places where
thevessels from India rendezvous.' (Sir H. Rawlinson, in_/. R. G. S.,
xxvii, 186.) Mas'udi mentions that at the time of the Mahomedan
conquest the country about Basrah was called Arz-ulHind^ The
Land of India. {Prairies d'Or.^ iv, 225.) ■'' [Sunt homines pulcri. —
BoLL.]](https://image.slidesharecdn.com/79989-250728230544-9c033d20/85/Robotics-Automation-and-Control-in-Industrial-and-Service-Settings-1st-Edition-Zongwei-Luo-41-320.jpg)
![112 THE TRAVELS OF FRIAR ODORIC forty-two pounds of
dates for less than a groat^; and so of many other things-. Quitting
this India and traversing many places, I came to the Ocean Sea, And
the first city on it that I reached is called Ormes, a city strongly
fenced and abounding in costly wares- [The city is on an island
some five miles distant from the main ; and on it there grows no
tree, and there is no fresh water. There is indeed great plenty of
bread and fish and flesh. But it is not a healthy place nor safe for
life, and the heat is something incredible. The people both men and
women are all very tall. And where I passed by one day there was
one just dead ; and they had got together all the players in the
place, and they set the dead man on his bed in the middle of the
house, whilst two women danced round about him, and the players
played on their cymbals and other instruments of music. Then two of
the women took hold of the dead man, embracing him and
chaunting his praises, and the other women stood up one after
another and took a pipe and piped on it awhile, and when one had
done piping she sat down ; and so they went on all night. And in the
morning they carried him to the tomb^] ^ [ Vnos grossus Venetus.
— Boll.] 2 Edrisi, two centuries before, relates that five hundred
rotoli of dates were to be had at Basrah for a dinar, according to the
report of merchants who were there in 1141 {Fr. Trans., i, 368). 3
Hormuz, at this time and long after, a great entrepot of Indian trade,
situated on a barren island near the mouth of the Persian Gulf, and
apparently representing the ancient Armuza which stood on the
mainland opposite, and appears in Ptolemy. (An island, Armuza, is
also shown in some copies at least of the Ptolemaic maps, though
not in the text.) The place, therefore, cannot have derived its name,
as D'Herbelot says, from Hormisdas, son of Sapor. It now belongs to
the Sultan of Oman (Maskat), and gives him a revenue from the salt
which it produces. Hormuz on the mainland still flourished at the end
of the tenth century, and the date of its transfer to the island seems
uncertain. — See Marco Polo, 1, p. no;?. * This passage is only in
the Pal. An account of the ceremonies of a wake at Baghdad very
like this is given by Tavernier. Here follows in all the Latin MSS. an](https://image.slidesharecdn.com/79989-250728230544-9c033d20/85/Robotics-Automation-and-Control-in-Industrial-and-Service-Settings-1st-Edition-Zongwei-Luo-42-320.jpg)
![THE TRAVELS OF FRIAR ODORIC II3 5. Of ships that have
no iron in their frame; and in such an one Fr. Odoric passeth to Tana
in India. In this country men make use of a kind of vessel which
they call Jase^, which is fastened only with stitching of confusion of
some complaint Hke hernia with the gieinea-wor/n, which did prevail
at Hormuz, or as if some one had hoaxed the friar as to the nature
of the latter malady. It is worthy of note that Mandeville here omits
this statement of Odoric's and substitutes another as to the
inhabitants being obliged by the heat to sleep in water, which he
does Jiot seem to have copied from Polo. This custom prevailed long
after, and is mentioned by Peter della Valle among others. Even
monks followed it in his day. Piuikahs of our Anglo-Indian fashion
were already in use at Hormuz in the end of the sixteenth century.
Linschoten calls them cattaventos {Polo, ii, 14 ; Pietro della Valle, ed.
Brighton, 1843, ii, 471 ; LiiiscJioteii, p. 16). [Yule is here mistaken ;
Mandeville mentions the same effects of the heat at Hormuz : Item
lem vait parmi Ynde par mointes diuerses contrees iusques a la grant
mer Occiane ; et puis troeue homme vne isle qad noun Crynes, ou ly
marchantz de Venise, de lanewe et des autres marcheez y vont
souent pur marchandises achater. Mes y fait si grand chaud en celle
isle qe pur la grande destresse de chaleure ly perpendicles del
homme, i.e. testiculi, issent hors de corps, pendantz iusqes a my
iambe, pur la grande dissolucioun du corps. Mes les gentz du pais et
cils qui sciuent la nature se font lier mult estreitment et se fond
oinder de oignement restrinctif et refrigeratif pur les retenir en
corps, ou autrement lis ne purroient viure ne durer. Warner ed., p.
81. — Warner mentions Yule's omission, p. 197. The Latin text of
this passage is given in the appendix. Here is the French text of
Odoric : En ce pays fait si tres grant chault que les tresmoins des
hommes leur issent du corps et leur pendent par dessoubs jusques
aux genoulx ou jusques en my jambe. Et se il veulent vivre il
convient qe il se oingnent d'une maniere de froit oingnement fait a
ce ou autrement ils mourroient de chault. Et quant ilz se sont oingt
de cest oingnement, ilz mettent leurs tresmoings en sachez propres
a ce, et les sourlievrent et loient ces sachez a leurs rains.] 1 Jahdz](https://image.slidesharecdn.com/79989-250728230544-9c033d20/85/Robotics-Automation-and-Control-in-Industrial-and-Service-Settings-1st-Edition-Zongwei-Luo-44-320.jpg)
![114 THE TRAVELS OF FRIAR ODORIC twine. On one of
these vessels I embarked, and I could find no iron at all therein
And having thus embarked, I passed over in twenty-eight days to
Tana'-^, where for the faith of Christ four of our Minor Friars had
suffered a glorious martyrdom. The city is excellent in position, and
hath great store of bread and wine^ and aboundeth in trees. This
was a great place in days of old, for it was the city of King Poms'*,
who waged so great a battle with King Alexander. The people
thereof are idolaters^, for they worship fire, and serpents, and trees
also. The land is under the dominion of the Saracens, who have
taken it by Sea of India the storms are often terrible. These ships
are also spoken of by Jordanus and Montecorvino. See Marco Polo, I,
p. 117, note. Oriental legends say that no iron can be used in the
ships navigating the seas of Asia owing to loadstones. Cf. an
interestingarticle of Rend Basset, La Moiitagne d'' Aimant^ Revue
des Traditions populaires^ July 1894, pp. 377-380. ^ [In quo
nullum fratrum ! ! potui reperire. — Boll.] ^ Thana, an ancient city
on the landward side of the island of Salsette, once the capital of
Konkan and a haven of importance, but long superseded by Bombay
; it is mentioned as a cotton port by Marco Polo. [II, pp, 395, 396n.]
How Porus was brought to these parts it is hard to say. But Gasparo
Balbi (1580), speaking of the Cave of Elephanta at Cape Bombain,
says that it was formed by Alexander the Great to mark his furthest
conquest. This may have been a current Mahomedan story, and
might account for Porus being translated to Tana. ^ Di quindi
navicammo per lo mare oceano venti otto di ; poi pervenimmo in
Tana, la quale fu cittade del Re Poito ; la quale terra e posta in buon
luogo, ed a grande abondanza di vittuaglia, espezialmente di burro,
di siisuan [sisamo?], e riso. Ouivi sono molti diversi animali, leoni
neri, e pipistrelli grandi come anitre, topi grandi come cani communi,
nfe non sono presi da gatti ma da cani per la loro grandeza. In
questa terra sono idolatrici, ma'l signore adorano i saracini il bue e
dicono ch' egli e il grande Idio, e non mangiano carne di bue, e
lavorano col buese i anni, il settimo anno i lasciano libero. Prendono
anche dello stereo del bue, e pongolosi a la faccia, e dicono da indi](https://image.slidesharecdn.com/79989-250728230544-9c033d20/85/Robotics-Automation-and-Control-in-Industrial-and-Service-Settings-1st-Edition-Zongwei-Luo-46-320.jpg)
![inanzi che sono santificati. — Pal. * [ Nam fuit ciuitas Regis Ponti
vel Parti Regis. — BoLL. who add in a note : Imo Pori, ut alij.] 5
La gente h idolatra, e adora il bue, della cui carne non ne
mangierebbeno per qual siuoglia cosa del mondo. Mogli fanno ben
lauorar la terra : Pero giunti che sono al sesto anno, li lasciano andar
via done loro place, egli adorano in ogniloco, che se gli fanno in
contro. E del loro stereo, se n' vngono il viso, credendo eglino allhora
esser santificati. — MiN. Ram.](https://image.slidesharecdn.com/79989-250728230544-9c033d20/85/Robotics-Automation-and-Control-in-Industrial-and-Service-Settings-1st-Edition-Zongwei-Luo-47-320.jpg)
![extended the Mohammedan power at the expense of the Solankis of
Gujarat (1297), of the Yadavas of Devagiri, on the east, on the very
coast of Tana, andof the Hoysalas of Dv^rasamudra, in the south ;
in 13 18, a short time before the arrival of Odoric, Harapala, the last
of the sovereigns of Devagiri, revolted, was captured and skinned
alive by Miibarik, successor of Ala-ud-din. The house of Khilije was
replaced by a Tiirki slave, leader of a rebellion, Ghiy^s-ud-din
Tughlak, who founded the Tughlak dynasty (1320-1414). It is
evident from Odoric's testimonial that — if rebellions were constant
inland — the maritime emporia were kept in order by the Musulman
governors. — H. C.] ^ This word is written also sce/i, dcpi, scoipi,
sarpi, etc., because (it may be supposed) the transcribers, like the
present editor, could make nothing of it.](https://image.slidesharecdn.com/79989-250728230544-9c033d20/85/Robotics-Automation-and-Control-in-Industrial-and-Service-Settings-1st-Edition-Zongwei-Luo-49-320.jpg)
![Il6 THE TRAVELS OF FRIAR ODORIC for this reason rats are
there caught by dogs, for the mousers or cats are of no use for that
In this country every man hath before his house a plant of twigs as
thick as a pillar would be here, and this never withers as long as it
gets water. And many other strange things are there which it would
be pretty to hear telP. [The women go naked there, and when a
woman is married she is set on a horse, and the husband gets on
the crupper and holds a knife pointed at her throat ; and they have
nothing on except a high cap on their head like a mitre, wrought
with white flowers, and all the maidens of the place go singing in a
row in front of them till they reach the house, and there the bride
and bridegroom are left alone, and when they get up in the morning
they go naked as before^] [ Qui viddi vno Leon grande, e
negrissimo, alia guisa di vn bufalo : e viddi le nottole, o vogliam dire
uespertiglioni, come sono le anatre di qui da noi. E topi, chiamati
Sorici di Faraone, che sono grandi come uolpi, e ue ne sono vu
infinita grande, e peggiori de cani mordenti : il paese c di Saracini.
— (MiN. Ram.) 1 have no doubt that this passage refers to the
mangouste or ichneumon {Herpestes ichneiuno7i) formerly found in
this part of Asia as well as in Egypt where it was venerated. — H. C.
— See Marco Polo^ I, p. 254, note 3.] ^ As to the great bats and
rats enough has been said in the notes to Jordanus (pp. 19, 29). The
word which I have translated bats is iioctua^ but I think bats are
meant. Nottola in Italian means not an owl but a bat ; and the MiN.
Ram. and Pal. confirm this. They also say as big as our ducks,
which is more germane than pigeons. The black lions'' are tigers,
we may presume. Polo always calls tigers lions. Nigri leones,
apparently for tigers, will be found in the Latin translation of
Arabshah's Life of Timur^ i, p. 466. [See note, supra.^ 2 This
passage must have been mangled in the dictation. But it is evident
that what is spoken of is the sacred Tulasi or Basil {Ocyniuni
Sanctum). The following extract describes intelligibly and correctly
what Odoric's amanuensis apparently did not understand. Almost
all the Hindus... adore a plant like our Basilico Gc7ttile, but of more
pungent odour. ...Everyone before his house has a little altar, girt](https://image.slidesharecdn.com/79989-250728230544-9c033d20/85/Robotics-Automation-and-Control-in-Industrial-and-Service-Settings-1st-Edition-Zongwei-Luo-50-320.jpg)
Robotics Automation and Control in Industrial and Service Settings 1st Edition Zongwei Luo
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- 5. Robotics Automation and Control in Industrial and Service Settings 1st Edition Zongwei Luo Digital Instant Download Author(s): Zongwei Luo, Zongwei Luo ISBN(s): 9781466686946, 1466686944 Edition: 1 File Details: PDF, 17.56 MB Year: 2015 Language: english
- 7. Robotics, Automation, and Control in Industrial and Service Settings Zongwei Luo South University of Science and Technology of China, China A volume in the Advances in Civil and Industrial Engineering (ACIE) Book Series
- 8. Published in the United States of America by Engineering Science Reference (an imprint of IGI Global) 701 E. Chocolate Avenue Hershey PA, USA 17033 Tel: 717-533-8845 Fax: 717-533-8661 E-mail: cust@igi-global.com Web site: http://www.igi-global.com Copyright © 2015 by IGI Global. All rights reserved. No part of this publication may be reproduced, stored or distributed in any form or by any means, electronic or mechanical, including photocopying, without written permission from the publisher. Product or company names used in this set are for identification purposes only. Inclusion of the names of the products or companies does not indicate a claim of ownership by IGI Global of the trademark or registered trademark. Library of Congress Cataloging-in-Publication Data British Cataloguing in Publication Data A Cataloguing in Publication record for this book is available from the British Library. All work contributed to this book is new, previously-unpublished material. The views expressed in this book are those of the authors, but not necessarily of the publisher. For electronic access to this publication, please contact: eresources@igi-global.com. Robotics, automation, and control in industrial and service settings / Zongwei Luo, editor. pages cm Includes bibliographical references and index. Summary: “This book meets the challenges presented by the rise of ubiquitous computing by providing a detailed discus- sion of best practices and future developments in the field of automation and robotics”-- Provided by publisher. ISBN 978-1-4666-8693-9 (hardcover) -- ISBN 978-1-4666-8694-6 (ebook) 1. Automation. 2. Robotics. 3. Service industries--Information technology. I. Luo, Zongwei, 1971- T59.5.R573 2015 629.8--dc23 2015015068 This book is published in the IGI Global book series Advances in Civil and Industrial Engineering (ACIE) (ISSN: 2326- 6139; eISSN: 2326-6155) Managing Director: Managing Editor: Director of Intellectual Property Contracts: Acquisitions Editor: Production Editor: Development Editor: Typesetter: Cover Design: Lindsay Johnston Austin DeMarco Jan Travers Kayla Wolfe Christina Henning Austin DeMarco Michael Brehm Jason Mull
- 9. The Advances in Civil and Industrial Engineering (ACIE) Book Series (ISSN 2326-6139) is published by IGI Global, 701 E. Chocolate Avenue, Hershey, PA 17033-1240, USA, www.igi-global.com. This series is composed of titles available for purchase individually; each title is edited to be contextually exclusive from any other title within the series. For pricing and ordering information please visit http://www. igi-global.com/book-series/advances-civil-industrial-engineering/73673. Postmaster: Send all address changes to above address. Copyright © 2015 IGI Global. All rights, including translation in other languages reserved by the publisher. No part of this series may be reproduced or used in any form or by any means – graphics, electronic, or mechanical, including photocopying, recording, taping, or information and retrieval systems – without written permission from the publisher, except for non commercial, educational use, including classroom teaching purposes. The views expressed in this series are those of the authors, but not necessarily of IGI Global. IGI Global is currently accepting manuscripts for publication within this series. To submit a pro- posal for a volume in this series, please contact our AcquisitionEditorsatAcquisitions@igi-global.com or visit: http://www.igi-global.com/publish/. • Ergonomics • Production Planning and Control • Structural Engineering • Quality Engineering • Construction Engineering • Engineering Economics • Urban Engineering • Optimization Techniques • Hydraulic Engineering • Transportation Engineering Coverage Private and public sector infrastructures begin to age, or require change in the face of developing tech- nologies, the fields of civil and industrial engineering have become increasingly important as a method to mitigate and manage these changes. As governments and the public at large begin to grapple with climate change and growing populations, civil engineering has become more interdisciplinary and the need for publications that discuss the rapid changes and advancements in the field have become more in-demand. Additionally, private corporations and companies are facing similar changes and challenges, withthepressurefornewandinnovativemethodsbeingplacedonthoseinvolvedinindustrialengineering. The Advances in Civil and Industrial Engineering (ACIE) Book Series aims to present research and methodology that will provide solutions and discussions to meet such needs. The latest methodolo- gies, applications, tools, and analysis will be published through the books included in ACIE in order to keep the available research in civil and industrial engineering as current and timely as possible. Mission ISSN: 2326-6139 EISSN: 2326-6155 Advances in Civil and Industrial Engineering (ACIE) Book Series
- 10. Titles in this Series For a list of additional titles in this series, please visit: www.igi-global.com Contemporary Ethical Issues in Engineering Satya Sundar Sethy (Indian Institute of Technology Madras, India) Engineering Science Reference • copyright 2015 • 343pp • H/C (ISBN: 9781466681309) • US $215.00 (our price) Emerging Issues, Challenges, and Opportunities in Urban E-Planning Carlos Nunes Silva (University of Lisbon, Portugal) Engineering Science Reference • copyright 2015 • 380pp • H/C (ISBN: 9781466681507) • US $205.00 (our price) Technology and Practice in Geotechnical Engineering Joseph B. Adeyeri (Federal University Oye-Ekiti, Nigeria) Engineering Science Reference • copyright 2015 • 836pp • H/C (ISBN: 9781466665057) • US $225.00 (our price) Fracture and Damage Mechanics for Structural Engineering of Frames State-of-the-Art Industrial Applications Julio Flórez-López (University of Los Andes, Venezuela) María Eugenia Marante (Lisandro Alvarado University, Venezuela) and Ricardo Picón (Lisandro Alvarado University, Venezuela) Engineering Science Reference • copyright 2015 • 602pp • H/C (ISBN: 9781466663794) • US $225.00 (our price) Computer-Mediated Briefing for Architects Alexander Koutamanis (Delft University of Technology, The Netherlands) Engineering Science Reference • copyright 2014 • 321pp • H/C (ISBN: 9781466646476) • US $180.00 (our price) Technologies for Urban and Spatial Planning Virtual Cities and Territories Nuno Norte Pinto (The University of Manchester, UK) José António Tenedório (Universidade NOVA de Lisboa, Portugal) António Pais Antunes (University of Coimbra, Portugal) and Josep Roca Cladera (Technical University of Catalonia, BarcelonaTech, Spain) Information Science Reference • copyright 2014 • 349pp • H/C (ISBN: 9781466643499) • US $200.00 (our price) Formal Methods in Manufacturing Systems Recent Advances Zhiwu Li (Xidian University, People’s Republic of China) and Abdulrahman M. Al-Ahmari (King Saud University, Saudi Arabia) Engineering Science Reference • copyright 2013 • 531pp • H/C (ISBN: 9781466640344) • US $195.00 (our price) Production and Manufacturing System Management Coordination Approaches and Multi-Site Planning Paolo Renna (University of Basilicata, Italy) Engineering Science Reference • copyright 2013 • 377pp • H/C (ISBN: 9781466620988) • US $195.00 (our price) 701 E. Chocolate Ave., Hershey, PA 17033 Order online at www.igi-global.com or call 717-533-8845 x100 To place a standing order for titles released in this series, contact: cust@igi-global.com Mon-Fri 8:00 am - 5:00 pm (est) or fax 24 hours a day 717-533-8661
- 11. Table of Contents Preface. .................................................................................................................................................xiii Acknowledgment.................................................................................................................................xix Section 1 Introduction of Robotics Chapter 1 Assistive Intelligent Humanoid Robot in Human Environment.............................................................. 1 Zulkifli Mohamed, Universiti Teknologi MARA, Malaysia Genci Capi, University of Toyama, Japan Chapter 2 Cooperative Robots................................................................................................................................ 30 Pablo Sánchez-Sánchez, Universidad Autónoma de Puebla, Mexico Universidad Nacional Autónoma de México, Mexico Marco A. Arteaga-Pérez, Universidad Nacional Autónoma de México, Mexico Chapter 3 Mobile Robot Path Planning using Voronoi Diagram and Fast Marching............................................ 92 S. Garrido, Carlos III University of Madrid, Spain L. Moreno, Carlos III University of Madrid, Spain Section 2 Introduction of Automation and Control Chapter 4 Interactive and Collaborative Virus-Evolutionary CNC Machining Optimization Environment. ....... 110 N. A. Fountas, School of Pedagogical and Technological Education, Greece N. M. Vaxevanidis, School of Pedagogical and Technological Education, Greece C. I. Stergiou, Piraeus University of Applied Sciences, Greece R. Benhadj-Djilali, Kingston University, UK.
- 12. Chapter 5 Simulation of Manufacturing Processes via Virtual Reality. ............................................................... 142 Mohamed-Amine Abidi, Lyon University, France Barbara Lyonnet, Nantes University, France Pierre Chevaillier, Lyon University, France Rosario Toscano, Lyon University, France Patrick Baert, Lyon University, France Section 3 Industrial Applications of Robotics, Automation and Control Chapter 6 Conceptual Process for Designing High-Technology Products: Case Study of a Litter-Collecting Robot.................................................................................................................................................... 180 Arsalan Safari, Qatar University, Qatar Chapter 7 Investigation of Optimum Conformations and Structure Analysis of RL and LR Nests using Ramachandran Plot.............................................................................................................................. 209 Sumukh Deshpande, University of Hail, Saudi Arabia Saikat Kumar Basu, University of Lethbridge, Canada Pooja Purohit, Almas International, Saudi Arabia Chapter 8 Strategic Role of Information and Information Technology in Shop Floor Control in Footwear Industry Sector..................................................................................................................................... 225 Sergio Ricardo Mazini, University Center Toledo Araçatuba, Brazil Chapter 9 An Intuitive Teleoperation of Industrial Robots: Approach Manipulators by Using Visual Tracking Over a Distributed System.................................................................................................... 243 Andrea Bisson, University of Padova, Italy Stefano Michieletto, University of Padova, Italy Valentina Ferrara, Comau S.p.A., Italy Fabrizio Romanelli, Comau S.p.A., Italy Emanuele Menegatti, University of Padova, Italy Section 4 Service Applications of Robotics, Automation and Control Chapter 10 A Gamification Mechanism for Advertising in Mobile Cloud............................................................ 263 Zongwei Luo, South University of Science and Technology of China, China Qixing Zhuang, The University of Hong Kong, Hong Kong Tao Jiang, The University of Hong Kong, Hong Kong Yang Liu, The University of Hong Kong, Hong Kong Feng Yi, The University of Hong Kong, Hong Kong
- 13. Chapter 11 Robotic Transformation and its Business Applications in Food Industry........................................... 281 Anas Mathath, Universiti Sains Malaysia, Malaysia Yudi Fernando, Universiti Sains Malaysia, Malaysia Compilation of References................................................................................................................ 306 About the Contributors..................................................................................................................... 328 Index.................................................................................................................................................... 336
- 14. Detailed Table of Contents Preface. .................................................................................................................................................xiii Acknowledgment.................................................................................................................................xix Section 1 Introduction of Robotics Chapter 1 Assistive Intelligent Humanoid Robot in Human Environment.............................................................. 1 Zulkifli Mohamed, Universiti Teknologi MARA, Malaysia Genci Capi, University of Toyama, Japan The number of robots operating in human environments is increasing every day. In order to operate in such environments, the robot must be able to navigate, interact with human, pick and place different objects. This chapter presents a mobile humanoid robot that is able to localize itself, navigate to the target location, and generates the arm motion based on the specific task. The robot utilizes the Laser Range Finder, camera and compass sensor for localization and navigation. In addition, the robot generates the arm motion satisfying multiple motion criteria, simultaneously. This chapter evolves neural controllers thatgeneratethehumanoidrobotarmmotionindynamicenvironmentoptimizingthreedifferentobjective functions:minimumtime,distanceandacceleration.InasingleranofMulti-ObjectiveGeneticAlgorithm, multiple neural controllers are generate and the same neural controller can be employed to generate the robot motion for a wide range of initial and goal positions. Chapter 2 Cooperative Robots................................................................................................................................ 30 Pablo Sánchez-Sánchez, Universidad Autónoma de Puebla, Mexico Universidad Nacional Autónoma de México, Mexico Marco A. Arteaga-Pérez, Universidad Nacional Autónoma de México, Mexico The interest in developing cooperative systems has increased due to the advantages they offer. Such systems can perform tasks that a single robot would be impossible to achieve. In this chapter, a summary of the cooperative robots’s study, a classification of the type of grips, and path planning is presented. In addition, the properties and characteristics of the dynamic model, and the effects of torque and friction in contact tasks are shown. General considerations that should be made to analyze a cooperative system are introduced, and finally, the principle of orthogonalization, which separates the position and the force using a projection matrix which allows us to develop a control-observer scheme, is presented.
- 15. Chapter 3 Mobile Robot Path Planning using Voronoi Diagram and Fast Marching............................................ 92 S. Garrido, Carlos III University of Madrid, Spain L. Moreno, Carlos III University of Madrid, Spain This chapter presents a new sensor-based path planner, which gives a fast local or global motion plan capable to incorporate new obstacles data. Within the first step, the safest areas in the environment are extracted by means of a Voronoi Diagram. Within the second step, the fast marching method is applied to the Voronoi extracted areas so as to get the trail. This strategy combines map-based and sensor-based designing operations to supply a reliable motion plan, whereas it operates at the frequency of the sensor. The most interesting characteristics are high speed and reliability, as the map dimensions are reduced to a virtually one-dimensional map and this map represents the safest areas within the environment. Section 2 Introduction of Automation and Control Chapter 4 Interactive and Collaborative Virus-Evolutionary CNC Machining Optimization Environment. ....... 110 N. A. Fountas, School of Pedagogical and Technological Education, Greece N. M. Vaxevanidis, School of Pedagogical and Technological Education, Greece C. I. Stergiou, Piraeus University of Applied Sciences, Greece R. Benhadj-Djilali, Kingston University, UK. Research on the area of sculptured surface machining optimization is currently directed towards the implementation of artificial intelligence techniques. This chapter aims at presenting a novel approach of optimizing machining strategies applied to manufacture complex part geometries. Towards this direction a new genetic-evolutionary algorithm based on the virus theory of evolution is developed as a hosted module to a commercial and widely known CAM system. The new genetic algorithm automatically evaluates pairs of candidate solutions among machining parameters for roughing and finishing operations so as to optimize their values for obtaining optimum machining programs for sculptured parts in terms of productivity and quality. This is achieved by introducing new directions of manipulating manufacturing software tools through programming and customization. The environment was tested for its efficiency and has been proven capable of providing applicable results for the machining of sculptured surfaces. Chapter 5 Simulation of Manufacturing Processes via Virtual Reality. ............................................................... 142 Mohamed-Amine Abidi, Lyon University, France Barbara Lyonnet, Nantes University, France Pierre Chevaillier, Lyon University, France Rosario Toscano, Lyon University, France Patrick Baert, Lyon University, France In a world in continuous evolution, the different industrial actors need to be reactive to remain competitive and to conquer new market trends. To achieve this, they are constrained to improve their way of industrial management, both at the strategic level, to adapt to technological advances and follow market trends. In this chapter, we introduce a new simulation method that makes it easy to understand the results of a given simulation. This is of crucial importance because the design stage of a manufacturing system
- 16. usually implies not specialist actors. The objective of the chapter is to present the main advantages of using the virtual reality (VR) to the manufacturing processes simulation. To this end, a state of the art will compose the first part of the chapter. In the second part, we address the issue of the contribution of the VR to the industrial simulation. Section 3 Industrial Applications of Robotics, Automation and Control Chapter 6 Conceptual Process for Designing High-Technology Products: Case Study of a Litter-Collecting Robot.................................................................................................................................................... 180 Arsalan Safari, Qatar University, Qatar In this chapter, a systematic and practical design process and methodology is presented and applied to design a new high- technology product: a litter-collecting robot. Although considerable theoretical and practical models have been developed in product design and development, there are still limited effective models on the practical design process on a detailed level. This chapter elaborates on recent relevant researchinthedesignmethodologyfieldandtrytoimprovethedetailsofproductdesignprocessandapply it to a litter-collecting robot design. The detailed and practical approach demonstrated on the design of a high- tech product in this paper, can be applied effectively to the design process of industrial products. Chapter 7 Investigation of Optimum Conformations and Structure Analysis of RL and LR Nests using Ramachandran Plot.............................................................................................................................. 209 Sumukh Deshpande, University of Hail, Saudi Arabia Saikat Kumar Basu, University of Lethbridge, Canada Pooja Purohit, Almas International, Saudi Arabia We have surveyed polypeptides with the optimal conformations of nests which are the common anion- binding motifs comprising 8% of the amino acids which are characterized by a structural depression or a hole. Using automated bioinformatics algorithm, novel ring structure of the nest has been found. Using automated algorithm, models of polypeptides were made in-silico (computationally) and oxygen atoms are inserted along the extension of the NH groups. These sophisticated algorithms allow insertion of atoms along the NH group at the correct distance which causes extension of the group thus forming hydrogen bond. Optimal conformations of these structures are found from these customized models. This study chapter provides a demonstration of an important discovery of optimum conformations of RL and LR nests by the use of sophisticated bioinformatics automation pipeline and a unique application of automation and control in bioinformatics. Chapter 8 Strategic Role of Information and Information Technology in Shop Floor Control in Footwear Industry Sector..................................................................................................................................... 225 Sergio Ricardo Mazini, University Center Toledo Araçatuba, Brazil This chapter presents an approach to the strategic role of information and information technology in the shop floor control in footwear industry sector, pointing and tracking through the various stages of the production process. Discusses the importance of industries perform monitoring of production
- 17. processes, with the goal of identifying information needs, actions and solutions that will contribute to the improvement and efficiency of the production process. The chapter also discusses the contribution of information technology to the information systems of companies, through the resources and solutions available today, such as Enterprise Resource Planning - ERP, Manufacturing Resource Planning - MRP and Shop Floor Control - SFC. The research method is the case study conducted in firm located in an industrial Brazilian footwear. This study examines the use of a solution called GradeSFC tracking and pointing of the production process. Chapter 9 An Intuitive Teleoperation of Industrial Robots: Approach Manipulators by Using Visual Tracking Over a Distributed System.................................................................................................... 243 Andrea Bisson, University of Padova, Italy Stefano Michieletto, University of Padova, Italy Valentina Ferrara, Comau S.p.A., Italy Fabrizio Romanelli, Comau S.p.A., Italy Emanuele Menegatti, University of Padova, Italy Teleoperation of manipulator robots with RGB-D sensors is now mainly done using inverse kinematics techniques. In this chapter, we describe an intuitive way to teleoperate an industrial manipulator through vision sensors by directly controlling manipulator joints retargeting specific human motion. In this way the human operator has the full control of robot movements with practically no training, because of the intuitivity of this teleoperation method. The remapping into the robot joints is done by computing angles between vectors built from positions of human joints, tracked by the selected vision sensor. The obtained system is very modular which allows to change either the tracking sensor or the robot model with some small changes. Finally, the developed teleoperation system has been successfully tested on two real Comau robots, revealing to be fast and strongly reliable. Section 4 Service Applications of Robotics, Automation and Control Chapter 10 A Gamification Mechanism for Advertising in Mobile Cloud............................................................ 263 Zongwei Luo, South University of Science and Technology of China, China Qixing Zhuang, The University of Hong Kong, Hong Kong Tao Jiang, The University of Hong Kong, Hong Kong Yang Liu, The University of Hong Kong, Hong Kong Feng Yi, The University of Hong Kong, Hong Kong In this chapter, we introduce a gamification mechanism for advertising in mobile cloud. Gamification for advertising uses game thinking and mechanism in non-game contexts to engage users in developing and deliver advertising content suitable for mobile devices. To support this gamification advertising mechanism, we develop a cloud based service platform for media integration and distribution, supporting flexible interactions and collaboration among media content providers, advertisers, and developers. Contribution of this chapter is it introduces game theory and mechanism design into gamification for advertising which is demonstrated as feasible and just in time. And the gamifiation for advertising is the first in the literature ever discussed as we know in the context of mechanism design. A layering solution with introduction of an advertising layer for developing gamified applications for mobile devices is also the first ever in the literature as we know.
- 18. Chapter 11 Robotic Transformation and its Business Applications in Food Industry........................................... 281 Anas Mathath, Universiti Sains Malaysia, Malaysia Yudi Fernando, Universiti Sains Malaysia, Malaysia The role of robots is becoming substantial for industrial applications and business competitiveness. The robot transformation in food industry has increased business productivity, reduced cost and enhanced customer experiences. The usage scale of robots has an increasing trend globally when industries modernize and increase the production capacities with ability in handling complex tasks. The objective of this chapter is to explore robotic transformation in literature and to investigate its business applications in food industry. There are two points raised in the discussion, would the robot technology which has been developed only capable owned by large scale food companies and the experiences gained in the restaurant which serves by robots can replace the human touch. At the end of this chapter, some solutions are given to shed light on the application of robot in food industry and deepen critical analysis for researchers, technocrats and business practitioners. Compilation of References................................................................................................................ 306 About the Contributors..................................................................................................................... 328 Index.................................................................................................................................................... 336
- 19. Preface INTRODUCTION Robotics, as one of the representative intelligent technologies, is expected with significant demand not only to help address the labor cost rising and labor management problems, but also to provide human- like services and capabilities. Fast development in artificial intelligence and natural language processing has made robotics systems to interact with human with more friendly and natural interfaces. These user friendly and natural interfaces are especially valuable for robotics systems as expected pervasive adop- tion of service robotics in health-care and other human intensively-present environment would lead to humanoid robotics that are demanding more on human like interactions. Traditional industrial robotics has less weight on Human Machine Interaction (HMI) as automation, precision, and dexterity is what is necessary. The recent industry trend of mass customization throughout whole manufacturing chains has led to attention of human intervention and relationship management in deriving agile and flexible manufacturing assembly lines. Meanwhile, robotics focused on service delivery will have to demand more on HMI performance. Typical interfaces include device interfaces like keyboards, joysticks, mouses, and touch screens, providing basic means for humans to interact with a robot. Natural language interface has become a very attractive means to allow humans to interact with a robot, thanks to fast advances of voice recognition and natural language processing technologies. Vir- tual reality enabled interactive technologies and motion capturing interface like MS Kinect are another means and have been becoming popular. In enabling human like interactions, Internet of Things and Big Data Computing (IoT/Big Data) pres- ent promising ways for developing devices that sensing human and environment, and develop analytic algorithms and systems to identify and discover human motion and human affection. Cognitive service systems with human reasoning capabilities are one way towards this direction of development. While research in cognitive systems generally focuses on cognitive phenomena such as perception, attention, anticipation, planning, learning, and reasoning, it is more attractive to develop cognitive service systems based on IoT and Big Data Computing to explore new paradigms, methodologies and algorithms to develop intelligent service systems and applications. ABOUT THIS BOOK Vision for robotics, automation and control in industrial and service settings has been driven by fast advances in information technology (e.g. RFID, sensor, Internet of Things and Cloud). A smarter world xiii
- 20. Preface vision supported by ubiquitous interconnection and intelligence has generated considerable interest and demand for the next generation of robotics, automation and control technologies and their applications towards enabling smart manufacturing and human centric services. This book would provide a forum of innovative findings in advanced robotics, automation and control research and development. It aims to promote an international knowledge exchange community involving a multidisciplinary participation from researchers, practitioners, and academics with insight addressing issues in real life problems towards smarter manufacturing and human centric services. By disseminating latest developments in robotics, automation, control innovation and transformation upon current and/or emergingtechnologyopportunitiesandmarketimperatives,thisbookcoversboththeoreticalperspectives and practical approaches for smart manufacturing and human-centric service research and development. Thetargetaudiencewouldincludemultidisciplinaryparticipantsfromsociety,industry,academia,and government. The book would be suitable as a good reference book for college students and professors. CONTENT OF THIS BOOK Nowadays, there’s an increasing number of robots in various environments. Intelligent robots have risen in agriculture, industry and service business. It involves fields such as food manufacturing, material processing and intelligent navigation. This book mainly focuses on robotics, automation and control, and their applications in industrial and service areas. It consists of 11 chapters classified in four sections, i.e. 1) introduction on robotics and the basic theories, algorithms and designing process, 2) introduction on automation and control, including basic information technologies and methodologies, 3) the industrial applications of robotics, automation and control, such as in bioinformatics, human-computer interaction, CNC machining optimization, etc., and 4) the service applications of robotics, automation and control, including advertising and risk management, etc. . Section I on Introduction of Robotics Includes the Following Chapters • Chapter 1: Assistive Intelligent Humanoid Robot in Human Environment, Zulkifli Mohamed, Genci Capi • Chapter 2: Cooperative robots, Pablo Sánchez-Sánchez and Marco Antonio Arteaga-Pérez • Chapter 3: Mobile Robot Path Planning using Voronoi Diagram and Fast Marching, S. Garrido and L. Moreno Chapter 1 introduces a mobile humanoid robot that is able to localize itself, navigate to the target loca- tion, and generates the arm motion based on the specific task. The robot utilizes the Laser Range Finder (LRF), camera and compass sensor for localization and navigation. In addition, the robot generates the arm motion satisfying multiple motion criteria, simultaneously. This chapter evolves neural controllers that generate the humanoid robot arm motion in dynamic environment optimizing three different objec- tive functions: minimum time, minimum distance and minimum acceleration. An advantage of proposed method is that in a single ran of Multi-Objective Genetic Algorithm, multiple neural controllers are generated. The same neural controller can be employed to generate the robot motion for a wide range of initial and goal positions. xiv
- 21. Preface Chapter 2 introduces the basic knowledge of cooperative robots. Cooperative robots are increasingly contributing to achieve greater flexibility optimization and application. Due to control techniques have enabledroboticsimplementedindifferentapplications.Grippingobjectsofasetofrobotsrequireminimal integration architecture sensors, due to various factors such as the cost involved in getting encoders, the space required for integrating a manipulator, more transducers and the number of inputs and outputs can be contained in the data processing cards. A robot is a re-programmable, multi-functional manipulator designed to handle materials, tools or specialized devices through programmed movements. Movements include interaction with objects and the environment. A cooperative system consists of multiple robot manipulators which aimed to hold an object. Therefore, the position of the end-effector of each robot is limited geometrically. These constraints modeling the object and cause a reduction in degrees of freedom. This is because the end-effector of each robot must maintain contact with the object. Consequently, it cannot be moved in all directions. The degrees of freedom lost becomes in force contact. Therefore, they should be included in the dynamics of each robot to form the cooperative system. Chapter 3 presents a new sensor-based Path Planner, which gives a fast local or global motion plan capable to incorporate the new obstacle data. For navigation in complicated environments, a robot must reach a compromise between the requirement| for having efficient and optimized trajectories and also the need for reacting to sudden events. This paper presents a new sensor-based Path Planner, which gives a fast local or global motion plan capable to incorporate the new obstacle data. Within the first step the safest areas in the environment are extracted by means of a Voronoi diagram. Within the second step the fast marching methodology is applied to the Voronoi extracted areas so as to get the trail. the strategy combines map-based and sensor-based designing operations to supply a reliable motion plan, whereas it operates at the frequency of the sensor. The most interesting characteristics are speed and reliability, as the map dimensions are reduced to a virtually one-dimensional map and this map represents the safest areas within the environment for moving the robot. Additionally, the Voronoi diagram is calculated in open areas, and with all reasonably shaped obstacles, that permits to use the planned trajectory method- ology in advanced environments wherever different strategies of planning based on Voronoi don’t work. Section II on Introduction of Automation and Control Includes the Following Chapters • Chapter 4: Interactive and Collaborative Virus-Evolutionary CNC Machining Optimization Environment, N.A. Fountas, N.M. Vaxevanidis, C.I. Stergiou, R. Benhadj-Djilali • Chapter 5: Simulation of Manufacturing Processes via Virtual Reality, Mohamed-Amine Abidi, Barbara Lyonnet, Pierre Chevaillier, Rosario Toscano, Patrick Baert Chapter 4 focuses on a novel approach of optimizing machining strategies applied to manufacture com- plex part geometries. A new genetic-evolutionary algorithm based on the virus theory of evolution is developed and new directions of manipulating manufacturing software tools are introduced. Research on the area of sculptured surface machining optimization is currently directed towards the implementa- tion of artificial intelligence techniques. This chapter aims at presenting a novel approach of optimizing machining strategies applied to manufacture complex part geometries. Towards this direction a new genetic-evolutionary algorithm based on the virus theory of evolution is developed as a hosted module to a commercial and widely known CAM system. The new genetic algorithm automatically evaluates pairs of candidate solutions among machining parameters for roughing and finishing operations so as xv
- 22. Preface to optimize their values for obtaining optimum machining programs for sculptured parts in terms of productivity and quality. This is achieved by introducing new directions of manipulating manufacturing software tools through programming and customization. The environment was tested for its efficiency and has been proven capable of providing applicable results for the machining of sculptured surfaces. Chapter 5 introduces a new simulation system that makes it easy to understand the results of a given simulation. We deal with the main advantages of using the virtual reality (VR) to the manufacturing processes simulation and end up with a proposal of solution which allows to integrate VR with the simulation of production flows through a software architecture. In a world in continuous evolution, the different industrial actors need to be reactive to remain competitive and to conquer new market trends. To achieve this, they are constrained to improve their way of industrial management, both at the strate- gic level, to adapt to technological advances and follow market trends. At the strategic level, this leads manufacturers to update and adapt their ways of production management, improve the performance of manufacturing processes and reduce production deadlines to deal with the arrival of new products and certainly new competitors. In this chapter, we introduce a new simulation system that makes it easy to understand the results of a given simulation. This is of crucial importance because the design stage of a manufacturing system usually implies important actors that are not necessarily specialist of the mathematical concepts implied in the discrete event processes simulation. The objective of the chapter is to introduce the main advantages of using the virtual reality (VR) to the manufacturing processes simulation. To this end, a survey of the simulation of discrete event systems, also the main simulation tools and the different research works in VR that treats issues related to the industry will compose the greater part of this chapter. And we ends up with a proposal of solution which allows to integrate VR with the simulation of production flows through a software architecture. Section III on Industrial Applications of Robotics, Automation and Control Includes the Following Chapters • Chapter 6: Conceptual Process for Designing High-Technology Products: Case Study of a Litter- Collecting Robot, Arsalan Safari • Chapter 7: Investigation of Optimum Conformations and Structure Analysis of RL and LR Nests using Ramachandran Plot, Sumukh Deshpande, Saikat Kumar Basu and Pooja Purohit • Chapter 8: Strategic Role of Information and Information Technology in Shop Floor Control in Footwear Industry Sector, Sergio Ricardo Mazini • Chapter 9: An Intuitive Teleoperation of Industrial Robots: Approach Manipulators by Using Visual Tracking Over A Distributed System, Andrea Bisson, Stefano Michieletto, Valentina Ferrari, Fabrizio Romanelli, Emanuele Menegatti In Chapter 6, the authors study the design of a new high-technology product: a litter-collecting robot. The process includes problem definition and analysis, customer survey, market evaluation, requirement engineering, and product characteristics. Finally this approach we studied can be applied effectively to the design process of industrial products. In this study, a systematic and practical design process and methodology is applied to design a new high- technology product: a litter-collecting robot. Although considerableresearchhasbeenconductedinproductdesignanddevelopment,thereislimiteddocumented research on the practical design process on a detailed level. The design process discussed in this paper includes problem definition and analysis, customer survey, market evaluation, requirement engineering, xvi
- 23. Preface and product characteristics. These steps are followed by product design specifications, critical factors determination, and design solution generation. At the end, the system identification matrix, main system, subsystems, outputs, inputs, and product architecture schematic of the litter-collecting robot are designed and developed. The detailed and practical approach demonstrated on the design of a high- tech product in this paper, can be applied effectively to the design process of industrial products. In Chapter 7, the study provides a demonstration of an important discovery of optimum conformations of RL and LR nests by the use of sophisticated bioinformatics automation pipeline and a unique appli- cation of automation and control in bioinformatics. They have surveyed polypeptides with the optimal conformations of nests which are the common anion-binding motifs comprising 8% of the amino acids which are characterized by a structural formation in which the main chain NH groups of three successive residues bind an anionic atom or group forming a depression or a hole. Using automated bioinformat- ics algorithm, novel ring structure of the nest has been found. The anion-binding site is characterized by alternating residues of αR or αL main-chain dihedral angles. Using automated algorithm, models of polypeptides were made in-silico (computationally) and oxygen atoms as if hydrogen-bonded are inserted along the extension of the NH groups. These sophisticated algorithms allow insertion of atoms along the NH group at the correct distance which causes extension of the group thus forming hydrogen bond. Optimal conformations of these structures are found from these customized models when one oxygen atom bridges two NH groups by forming an extra hydrogen bond with the next but one residue. This chapter provides a demonstration of an important discovery of optimum conformations of RL and LR nests by the use of sophisticated bioinformatics automation pipeline and a unique application of automation and control in bioinformatics. Chapter 8 presents an approach to the strategic role of information and information technology in the shop floor control in footwear industry sector, pointing and tracking through the various stages of the production process. It discusses the importance of industries perform monitoring of production pro- cesses, with the goal of identifying information needs, actions and solutions that will contribute to the improvement and efficiency of the production process. The chapter also discusses the contribution of information technology to the information systems of companies, through the resources and solutions available today, such as Enterprise Resource Planning - ERP, Manufacturing Resource Planning - MRP and Shop Floor Control - SFC. The research method is the case study conducted in firm located in an industrial Brazilian footwear. This study examines the use of a solution called GradeSFC tracking and pointing of the production process. Teleoperation of manipulator robots with RGB-D sensors is now mainly done using inverse kine- matics techniques. In Chapter 9, instead, authors described an intuitive way to teleoperate an industrial manipulator robot using a vision sensor, in order to control directly the manipulator joints by retargeting specific human motion. In this way the human operator has the full control of robot movements with practically no training, because of the intuitivity of this teleoperation method. The remapping into the robot joints is done by computing angles between vectors built from positions of human joints, tracked by the used vision sensor. The system developed for this work uses a Comau manipulator robot and a Microsoft Kinect as vision sensor for the hardware part, and the Robot Operating System (ROS) frame- work for the software part in order to fulfill the teleoperation task. The system obtained is very modular which allows to change either the tracking sensor or the robot model with some small changes. Finally, the developed teleoperation system has been successfully tested on two real Comau robots, revealing to be fast and strongly reliable. xvii
- 24. Preface Section IV on Service Applications of Robotics, Automation and Control Includes the Following Chapters • Chapter 10: A Gamification Mechanism for Advertising in Mobile Cloud, Zongwei Luo, Qixing Zhuang, Tao Jiang, Yang Liu, Feng Yi • Chapter 11: Robotic Transformation and Its Business Applications in Food Industry, Anas Mathath and Yudi Fernando In Chapter 10, authors propose a gamification mechanism for supporting advertising in mobile devices. Gamification for advertising uses game thinking and mechanism in non-game contexts to engage users in developing advertising content and delivering it into mobile devices. To support this gamification advertising mechanism, we develop a cloud based service platform for media integration and distribu- tion, supporting flexible interactions and collaboration among media content providers, advertisers, and developers. Media content providers supply the advertising resources to the cloud. Advertisers provide requirements to customize the media contents for advertising. Developers will offer systems and tools to assemble advertising resources and integrate them with game content. Contribution of this chapter is it introduces game theory and mechanism design into gamification for advertising which is demon- strated as feasible and just in time. And the gamifiation for advertising is the first in the literature ever discussed as presented in the context of mechanism design. A layering solution with introduction of an advertising layer for developing gamified applications for mobile devices is also the first ever in the literature as we know. Chapter 11 discusses the robotic transformation and its business applications in food industry. The role of robots is becoming substantial for industrial applications and business competitiveness. The robot transformation in food industry has increased business productivity, reduced cost and enhanced customer experiences. The usage scale of robots has an increasing trend globally when industries modernize and increase the production capacities with ability in handling complex tasks. In food industry robots should fulfill the basic requirements like hygiene and ease of programming. Robots serve mainly in production systems for material handling and packaging operations. Although robotics provides a better interface to raise productivity, small scale food companies are often reluctant to invest in robotics and infrastructure. High initial investment and maintenance costs are the obstacles. They also need to spent additional costs to employed skilled employees for its programming. Besides that the challenges of robot transformation are being faced by the large scale companies as well. There are two points raised in the discussion, would the robot technology which has been developed only capable owned by large scale food companies and the experiences gained in the restaurant which serves by robots can replace the human touch. At the end of this chapter, some solutions are given to shed light on the application of robot in food industry and deepen critical analysis for researchers, technocrats and business practitioners. Zongwei Luo South University of Science and Technology of China, China xviii
- 25. Acknowledgment The editor would like to express his gratitude to a number of people who have contributed to the comple- tion of this book in various ways and to thank them all for their assistance and encouragement. First, we wish to thank all of the authors for their excellent contributions to this book. All of you also served as reviewers for manuscripts written by other authors. Thank you all for your contributions and your constructive reviews. Second, we wish to thank all Editorial Advisory Board (EAB) members. Many of you have delivered responsive and valuable reviews. In addition, we are thankful for the support of the startup fund of SUSTC (Y01236115/Y01236215). Finally, we wish to thank the staff of IGI Global for their help and guidance! xix
- 26. Another Random Scribd Document with Unrelated Content
- 27. I04 THE TRAVELS OF FRIAR ODORIC world. For there is not on the face of the earth any kind of provision, or any species of goods, but you will find great store thereof at Tauris. It is admirable for situation, and so opulent a city that you would scarcely believe the things to be found there ; for the whole world, almost, hath dealings with that city for merchandise. And the Christians will tell you that the emperor^ there hath more revenue from that one city than the king of France hath from his whole realm. Near that city is a mountain of salt, which furnisheth great store of salt for the whole place. And of this salt taketh every man as much as he listeth, and payeth nothing to any man^. In that city, also, there dwell many Christians of every description, 'but the Saracens have the rule over them in all things. And there are many things else to be said of that city, but it would take too long to relate them. Departing from this city of Tauris, I travelled for ten days, and reached a certain city called SOLDANIA^, in which ^ The Emperor of Persia at this time was the son of Mohammed Khudabendeh, Abu Said Bahddur Khan, the last of the Mongol dynasty who had real power; he died 13 Rebi aul akhir 736. ^ I do not find recent mention of this salt mine. But Ricold de Montecroce, in entering Persia from this side, speaks with wonder of its mountains of salt, which had to be quarried like stone and broken with iron tools ; whilst the Arabian geographer Bakui notices specifically at Tabriz a mountain of salt, which is extracted in blocks, and Chardin also speaks of an important salt mine close to the city. {Peregrin. Qual.., p. 122 ; Notices et Extraits., ii, 477 ; Chardin., i, 258.) ^ Sultaniah was built as a royal residence by [Arghun and finished by] Olja'itu, son of Arghun, the eighth of the Mongol Khans of Persia, in 1305. Long after the destruction of the city by Timur, indeed into the seventeenth century, the tomb of Olja'itu was still magnificent, and especially noted for its colossal gates of damasked steel. The city was reoccupied by some of the Persian kings in the sixteenth century, till Shah Abbas transferred the seat of government to Ispahan. The ruins were of vast extent in Chardin's time. The present Persian dynasty has again adopted Sultaniah as a summer residence. Pope John XXII set up an
- 28. archbishopric at Sultaniah in 1318, in favour of Francis of Perugia, a Dominican, and the series of archbishops is traced down to 1425, [with Thomas de Abaraner occupying the See]. {Deguignes., iv, 277, 279; Barbaro in Ramus., ii, T05; Chardin, i, 271 ; Le Quien, iii, 1 359-1 368 ; De Sacy in Mc'm. de PAcad. des Inscr., vi, 503 seq.)
- 29. THE TRAVELS OF FRIAR ODORIC IO5 dwelleth the emperor of the Persians in the summer season But in the winter he goeth to a certain other place [called Axam]'- which is on the sea called the sea of Bacuc^ This city (of Soldania) is a great one, and a cool place, with an excellent supply of water, and many costly wares are brought thither for sale*. 1 [Nella quale a iin luogo de' Frati Predicatori, e uno de' Frati Minori. Pal.] 2 Boll. 3 The Caspian was very generally called so in the middle ages, from Baku, the chief port on the western shore. The archives of Genoa contain a curious document relating how, in 1374, one Lucchinus Tarigus of that city, with certain comrades as penniless as himself, started from Caffa with a fusta or light galley, which they took up the Don, and dragged sixty miles overland to the Edil (Volga), and so descended to the Sea of Bacu, which they scoured, taking many prizes and much plunder, with which they returned, abandoning their vessel. On their way back, however, the heroes of this surpassing feat of buccaneering were taken and stript of much of their gains. (Graberg de Hemso, Annali di Geog. e di Stattist.^ ii, 290.) [See Yule's Marco Polo, i, p. 59. In the French version of Odoric this sea is called Sea of Bascon. The latter name is a corruption of Abeskun, a small town and island in the S.E. corner of the Caspian Sea, not far from Ashurada.] The Bollandist version says the winter quarter of the Emperor on the sea was called Axavi. The usual winter resort of the Il-Khans was the plain of Moghan, on the Caspian, near the mouth of the Kur, which had been the quarter to which the hosts of their predecessors used to retire after their annual ravages. Axam (Asham.'') might however be Aujan, not far from Tabriz, which was often the spring and winter camp of the later Il-Khans, the Hujan of Clavijo, and where Gazan Khan built a fine city {D'Ohsson, v, 277 ; Ouatremere's Pas/lid, pp. 21-23). ^^^^ i'* that case the mention of the sea of Baku is a mistake. If not, it may perhaps be Acta/n, which is several times mentioned in the life of Timur, as a place on the plain of Mog'han where he used to pitch, especially for great hunting matches. {Cliereffeddin, by Petis de la Croix, ii, 390; iii, 208, 398 ; D^Ohsso/i, iv, 151, 483.) * [ Ce n'est my Somdoma jy une des V citez sur
- 30. lesquelles Dieux fist plouvoir feu et soufTre en vengence de pechie contre nature qui regnoit en eulx comme dit la Sainte Escripture. Car ces V villes furent jadis en la Terre Sainte de promission, en ce lieu qui est ore la Mer Morte. Et ceste Somdoma dont nous parlous si siet ens ou royaume de Persie. Jean Le Long. — This passage is omitted in Act. S. and in Ram. A.]
- 31. I06 THE TRAVELS OF FRIAR ODORIC 3. Concerning the City of the Magi ; also of the Sea of Sand, and of the Land of Huz. Departing from this city with a caravan, that is to say with a certain company, I proceeded in the direction of Upper India, and after travelHng that way for many days I halted at the city of the three Magi, which is called Cassan, a royal city and of great reputed But the Tartars have greatly destroyed it. It is a city which aboundeth greatly in bread and wine, and in many other good things. From this city to Jerusalem, (whither the Magi found their way, not surely by human strength but by Divine strength working by miracle, seeing how quickly they went^), is a good fifty days''' journey. And there be many other things with regard to that city which it boots not much to rehearsed ^ Instead of this. Pal. has: I came to the city of Saba, the place whence the three Magi came. ^ [Li troy Roy c[ui de ceste cit^ de Cassan furenten XIII journees amene en Jherusalem par vertu divine et non humaine. Jean Le Long.] 3 [Piu di LX.— Mm. Ram.— Sessanta giornate.— Pal.] * Qashan, a city of Persia, still tolerably flourishing, standing about halfway between Ispahan and Tehran, and also about halfway between Sultaniah and Yezd, long noted for its brocades and velvets, and also for its scorpions [and its fine pottery, called Qaschi Sir T. Herbert alludes to the story of the Magi coming from Qashan, but as he quotes Odoric I suspect his knowledge was derived from him only. For it is remarkable that in the Palatine and Minor Ramusian versions of Odoric, it is at Saba, and not at Qashan, that he speaks of the Magi. And this agrees with Marco Polo, who places at Sava the origin and sepulchres of the three kings. One he says was King of Sava, another of Ava, the third of the castle of the fire-worshippers. [ Marco Polo states that he ' found a village there which goes by the name of Cala Ataperistan {i.e. Kal'-nh-i Atashparasfan), which is as much as to say The Castle of the Fire-Worshippers. And the name is rightly apphed, for the 'peoplethere do worship fire! ' In an article entitled The Magi in Marco Polo [Jour. Am. Or. Soc., 26, 79-83] I have given various reasons for identifying the so-called ' Castle of the Fire-Worshippers' with Kaschan, which Odoric mentions, or a village in its vicinity, the
- 32. only rival to the claim being the town of Nain, whose Gabar Castle has already been mentioned above. (Jackson, Persia, p. 413.)] Both Saba and Ava still exist between Sultaniah and Qashan, or at least their names and remains do. They retain no traditions now about the kings. (Cf A. V. Williams Jackson, /'t'rj/^i, pp. 412-413.) Herbert observes that various authors have brought the Magi from Babylon, Shushan, Hormuz, and Ceylon, to which we may add that
- 33. THE TRAVELS OF FRIAR ODORIC lO/ Passing thence I travelled to a certain city called Iest [which is the furthest city of Persia towards India-], from which the Sea of Sand is but one day distant. Now that sea is a wondrous thing, and right perilous^ [And there were none of us who desired to enter on that sea. For it is all of dry sand without the slightest moisture. And it shifteth as the sea doth when in storm, now hither, now thither, and as it shifteth it maketh waves in like manner as the sea doth; so that countless people travelling thereon Armenian tradition brings them from Lake Van, Haiton the Armenian from Chinese Tartary, and John de' IVIarignolli from the Indian Archipelago. It was impossible to bring the wise men of the East from Europe, so they were taken there after death, surely by the strangest fable ever invented ! It is most likely that the location of the wise men at Saba in Persia rose out of a misapplication of Psalm Ixxii, lo : The kings of Tarshish and the Isles shall bring presents : the kings of Sheba and Seba shall offer gifts P And it was probably through some mistake in dictation that all the versions of Odoric but the two mentioned refer the Magi to Oashan instead of Saba. {Chardiii^ i, 297, 300, 301 ; Herberfs Travels; Haiton^ ch. ii ; Assenianni^ p. 750 ; Abbott in_/. R. G. S., xxv, p. 6.) ^ Yezd, occupying an oasis in the great Persian desert, is mentioned by Barbaro in the following century as a most industrious place, flourishing by its silk and cotton manufactures, and supplying with these a large part of Asia. [Heyd, Commerce du Levant^ 11, p. log, sa)'s the inhabitants of Yezd wove the finest silk of Taberistan. — Marco Polo calls this silk Yasdi? These manufactures still continue. Many important caravan routes converge at Yezd, whilst the desert has given it security, and thus it has become a considerable mart. The figs [called misqali pomegranates, grapes, and melons of the oasis are noted. The small raisins, not very much larger than Greek currants, are well known in India, into which they are largely imported under the name of Kishinis; perhaps from the island of Kais or Kish [Quisci, of Marco Polo, I, pp. 64-5 ; II, p. 453], from which the trade to India was conducted? Yezd is regarded as holy by the Alussulmans ; a sanctity perhaps borrowed from the fire-
- 34. worshippers who still linger here in degradation and scanty numbers. {Ranuisio^ ii, 106 ; Ritter^ viii, 265-270 ; f.R. A. S., viii, 349.) ^ From MiN. Ram. ■' Quitting Yezd at the end of April, our road ran across a sandy tract, which was, however, cultivated in parts, to Hujetabad, where a fine caravanserai and reservoir for water had been recently constructed. All round was a sea of sand, which the worthy Odoricus describes as ' une mer moult marveilleuse et moult perilleuse.' It is interesting to conjecture in what terms he would have commented on the Lut. A year later a European lost his way in this waste, and was obliged to walk about all night, to avoid being frozen. (P. M. Sykes, Ten Thousand Miles in Persia^ p. 155.)
- 35. I08 THE TRAVELS OF FRIAR ODORIC have been overwhelmed and drowned and buried in those sands. For when blown about and buffeted by the winds, they are raised into hills, now in this place, now in that, according as the wind chanceth to blow] In this city of lest there is very great store of victuals and all other good things that you can mention ; but especially is found there great plenty of figs ; and raisins also, green as grass and very small, are found there in richer profusion than in any other part of the world. This is the third best city which the Emperor of the Persians possesses in his whole realm. The Saracens say of it that no Christian is ever able to live in it beyond one year. And there are many other matters there. Departing thence, and passing by many cities and towns, I came to a certain city by name COMERUM, which formerly was a great city, and in the olden time did great scathe to the Romans. The compass of its walls is a good fifty* miles and there be therein palaces yet standing entire, but 1 From MiN. Ram. Whatever may be the exaggeration in this interpolated passage, as regards the Persian desert, the absolute extravagance of the account will seem less to those who will refer to the description by Baron Wrede of the desert in Southern Arabia, called '' The Sea of Saffi, from a king who is said to have perished with his army therein {J. R. G. S., xiv, p. iio-iii). Tavernier also speaks of the danger of being lost in the desert of Yezd, on account of the mobility of the sand. ^ The readings of this name are very various (see Latin text). But both Odoric's description and the manner in which I understand his route, seem to identify the remains of which he speaks with those of Persepolis. [ The earliest mention of the Persepolitan ruins, of which I am aware by a European writer, is that of Friar Odoricus. Curzon, Persia, ii, p. 130.] The name Coinet-um will then probably represent the grossa villa of Cainara, at which Barbaro places the ruins, and this is perhaps the same with the Kinat^a of Rich. [But Barbaro saw in Persepolis a work of Hebrew origin, instead of the ruins of Cyrus' Palace.] The great platform and columns of the palace, probably then more perfect than now, and the vast circuit assigned to the ruins by Persian tradition, varying from twelve to
- 36. forty-four parasangs (forty to a hundred and fifty miles, the former estimate not exaggerated if the remains in that neighbourhood be supposed within the compass of one city), answer well to the brief words of our traveller. ^ [Ejus autem muri bene quadraginta milliarium sunt capaces. —Boll.]
- 37. THE TRAVELS OF FRIAR ODORIC IO9 without inhabitants. It aboundeth however in many kinds of victual. Leaving this and going on through many towns and cities I reached the city called Huz wlijch abounds in all kinds of victuals, and is beautifully situated ^ For near this city are mountains, which afford in great abundance the finest of pastures for cattle. There also is found manna of better quality and in greater abundance than in any part of the world. In that country also you can get four good partridges for less than a Venetian groat. In those parts also you see very comely elders; and 'tis the custom there for the men to knit and spin, and not the women. And this land adjoineth the extremity of Chaldaea towards the Norths 1 Some copies have the land (or city) of Job; others the land of Job, called Huz (see Latin text).— [Un— Boll.] 2 The Huz of Odoric I at first supposed to be Ahwaz (or Hawaz), or some other city of Khuzistan. Assemanni in Latin calls that country Hiizia, and sometimes Huzitis ; whilst Magini in Italian calls it Cns. Job's name, which appears in many copies, is probably an interpolation suggested by the name of the country. However, Chardin tells us that Mayn, north-west of Shiraz, was pointed out as the residence of Job; and probably the nearest approximation in modern times to the Patriarch's wealth in cattle is to be found amongst the nomad chiefs of Persia. It is, however, more probable that the Huz of Odoric is the Hasah of Eastern writers, frequently coupled with Mosul, and identified by Assemanni with Adiabene (see Assemaimi, pp. 5, 11, 12, 13, 2og, 710). This would certainly be more consistent with the accuracy of the last clause of the chapter. 2 I suppose Odoric to pass through a part of the hill country of Luristan or the regions adjoining, if he does not indeed proceed north as far as Mosul, before descending into Chaldasa. The fine hill pastures, abundant manna, profusion of partridges, and fine old men (many of them, says an authoritj' quoted by Ritter, attaining a hundred years in full possession of their bodily and mental faculties), are all characteristic of the mountains of Kurdistan, embracing the Huz of Odoric according to the second interpretation just given, though I can find little of a specific kind on record- as to
- 38. the hill countries of Khuzistan and Luristan. The knitting and spinning of the men I do not find anywhere mentioned ; it is a well- known circumstance in the Himalayan villages. {Ritter^ ix, 61 1, 622 ; J. K. G. S. ix, 100, 104, etc.)
- 39. no THE TRAVELS OF FRIAR ODORIC 4. Fr. Odoric treateth of the manners of the people of Chaldaea ; of India within land ; and of Ormes. Departing thence I went into Chald.ea which is a great kingdom, and as I went thither I passed by the Tower of Babel, which is distant perchance four days' journey from (the city-). And in this land of Chaldsea they have a language of their own^; and the men are comely, but the women in sooth of an ill favour^ The men indeed go smartly dressed and decked as our women go here, and on their heads they wear a kind of fillet of gold and pearls ; whilst the women have nothing on them but a miserable shift reaching to the knees, and with sleeves so long and wide that they^ sweep the ground. And they go barefoot with drawers hanging about their feet, and their hair 1 Though he calls Chaldsea a great kingdom, he would appear to mean the city of Baghdad. The peculiar language would be Arabic. Hitherto he has been in countries that speak Persian chiefly. 2 Ab ed, i.e., Chaldcsd, showing that Baghdad is meant, which is about sixty miles from the Birs Nimrud, and somewhat less from the ruins of Babylon. Probably the mass called Babel at the latter is Odoric's Tower (see note to MarignoUi iiifra). It is not clear, however, how Odoric should have come by this to Baghdad. [Dieulafoy's Itinerary might give the explanation : Baghdad, Amarah, Dizful, Susa, Shuster, Ahwaz.] 3 [Nella detta Caldea est vero idioma Caldeo. Qual noi chiamamo lingua caldea. — Ram. A.] ^ In countries where Mahommedan manners prevail, and now including India, the women in the streets have a much meaner appearance than the men, because women of the better class are so little seen. Of the women of Baghdad Ker Porter says : The humbler females generally move abroad with faces totally unveiled, having a handkerchief rolled round their heads, from beneath which their hair hangs down over their shoulders ; their garment is of a shift form reaching to their ankles, open before, and of a grey colour. Their feet are completely naked. {Travels^ ii, 268.) ^ [Sorabules en caldien, sont braies en frangois. — Jean Le Long.]
- 40. THE TRAVELS OF FRIAR ODORIC III neither plaited nor braided, but in complete dishevelment; and as here among us the men' go first and the women follow, so there the women have to go before the men. [Here I saw a young man who was taking to wife a beautiful young woman, and she was accompanied by other beautiful maidens, who were weeping and w^ailing, whilst the young bridegroom stood by in very gay clothes, with his head hanging down. And by and b}'e the young man mounted his ass, and the bride followed him barefoot and wretchedly dressed, and holding by the ass, and her father went behind blessing them until they reached the husband's house-.] And many other matters there be in this city which it booteth not greatly to detail. So going thence I came to inland Indian a region which the Tartars have greatly wasted'*. And there you find people-' who live almost entirely on dates, and you get Diet, des VeteJiients ches les Arabes, p. 233.) Ricold Montecroce says the Nestorians thought the sacrament profaned if any one entered with the head covered or without Sorrabnla. Whereon his German editor says : '''' Socc2.hia. fortasse sunt socci., calceortun genus. Dueangiuvi fricstra cojisiihii, qui nee Sorrabula Jiabeat nee Soccabula {Peregrin. Med. ^v. IV, etc., Lipsiae, 1864, p. 129.) But if he had given Dueangius a Httle more tether in spelHng he would have found not only Sarabula., but Serabula., Saraballa, Sarabella., Sarabola, Sarabara^ and yet more ! The Bollandist Odoric has Serobullas, a sheer error; but Ducange has inserted it as iiiiiliebris vestis on that authority. [Arabic, serwal; it is the seroual of the French zouaves.] 1 [les valles.— J. Le Long.] 2 From MiN. Ram. 3 [ Inde la maiour. — J. Le Long.] * '''' India quce est infra terram. The infra is to be taken in the Italian sense. It is plain that he means some region adjoining the Persian Gulf, and the following extract illustrates the matter more precisely: ' The Talmudic writers. ..confounded Obillah [on the Lower Euphrates] with the Mosaic Havilah...and thus rendered Havilah everywhere by Hi7ideki or India, precisely as the early Arabs state that Obillah is also called Hind or India, and as the people of Basi'ah still constantly speak of the districts at the mouth of the river as Hind, from the circumstance
- 41. of their being the nearest points to India, and the places where thevessels from India rendezvous.' (Sir H. Rawlinson, in_/. R. G. S., xxvii, 186.) Mas'udi mentions that at the time of the Mahomedan conquest the country about Basrah was called Arz-ulHind^ The Land of India. {Prairies d'Or.^ iv, 225.) ■'' [Sunt homines pulcri. — BoLL.]
- 42. 112 THE TRAVELS OF FRIAR ODORIC forty-two pounds of dates for less than a groat^; and so of many other things-. Quitting this India and traversing many places, I came to the Ocean Sea, And the first city on it that I reached is called Ormes, a city strongly fenced and abounding in costly wares- [The city is on an island some five miles distant from the main ; and on it there grows no tree, and there is no fresh water. There is indeed great plenty of bread and fish and flesh. But it is not a healthy place nor safe for life, and the heat is something incredible. The people both men and women are all very tall. And where I passed by one day there was one just dead ; and they had got together all the players in the place, and they set the dead man on his bed in the middle of the house, whilst two women danced round about him, and the players played on their cymbals and other instruments of music. Then two of the women took hold of the dead man, embracing him and chaunting his praises, and the other women stood up one after another and took a pipe and piped on it awhile, and when one had done piping she sat down ; and so they went on all night. And in the morning they carried him to the tomb^] ^ [ Vnos grossus Venetus. — Boll.] 2 Edrisi, two centuries before, relates that five hundred rotoli of dates were to be had at Basrah for a dinar, according to the report of merchants who were there in 1141 {Fr. Trans., i, 368). 3 Hormuz, at this time and long after, a great entrepot of Indian trade, situated on a barren island near the mouth of the Persian Gulf, and apparently representing the ancient Armuza which stood on the mainland opposite, and appears in Ptolemy. (An island, Armuza, is also shown in some copies at least of the Ptolemaic maps, though not in the text.) The place, therefore, cannot have derived its name, as D'Herbelot says, from Hormisdas, son of Sapor. It now belongs to the Sultan of Oman (Maskat), and gives him a revenue from the salt which it produces. Hormuz on the mainland still flourished at the end of the tenth century, and the date of its transfer to the island seems uncertain. — See Marco Polo, 1, p. no;?. * This passage is only in the Pal. An account of the ceremonies of a wake at Baghdad very like this is given by Tavernier. Here follows in all the Latin MSS. an
- 43. untranslatable statement of the marvellous effects of the heat at Hormuz. It seems like a
- 44. THE TRAVELS OF FRIAR ODORIC II3 5. Of ships that have no iron in their frame; and in such an one Fr. Odoric passeth to Tana in India. In this country men make use of a kind of vessel which they call Jase^, which is fastened only with stitching of confusion of some complaint Hke hernia with the gieinea-wor/n, which did prevail at Hormuz, or as if some one had hoaxed the friar as to the nature of the latter malady. It is worthy of note that Mandeville here omits this statement of Odoric's and substitutes another as to the inhabitants being obliged by the heat to sleep in water, which he does Jiot seem to have copied from Polo. This custom prevailed long after, and is mentioned by Peter della Valle among others. Even monks followed it in his day. Piuikahs of our Anglo-Indian fashion were already in use at Hormuz in the end of the sixteenth century. Linschoten calls them cattaventos {Polo, ii, 14 ; Pietro della Valle, ed. Brighton, 1843, ii, 471 ; LiiiscJioteii, p. 16). [Yule is here mistaken ; Mandeville mentions the same effects of the heat at Hormuz : Item lem vait parmi Ynde par mointes diuerses contrees iusques a la grant mer Occiane ; et puis troeue homme vne isle qad noun Crynes, ou ly marchantz de Venise, de lanewe et des autres marcheez y vont souent pur marchandises achater. Mes y fait si grand chaud en celle isle qe pur la grande destresse de chaleure ly perpendicles del homme, i.e. testiculi, issent hors de corps, pendantz iusqes a my iambe, pur la grande dissolucioun du corps. Mes les gentz du pais et cils qui sciuent la nature se font lier mult estreitment et se fond oinder de oignement restrinctif et refrigeratif pur les retenir en corps, ou autrement lis ne purroient viure ne durer. Warner ed., p. 81. — Warner mentions Yule's omission, p. 197. The Latin text of this passage is given in the appendix. Here is the French text of Odoric : En ce pays fait si tres grant chault que les tresmoins des hommes leur issent du corps et leur pendent par dessoubs jusques aux genoulx ou jusques en my jambe. Et se il veulent vivre il convient qe il se oingnent d'une maniere de froit oingnement fait a ce ou autrement ils mourroient de chault. Et quant ilz se sont oingt de cest oingnement, ilz mettent leurs tresmoings en sachez propres a ce, et les sourlievrent et loient ces sachez a leurs rains.] 1 Jahdz
- 45. [Pers.), a ship. [This is the Arabic Djehas.' In his chapter on Hormuz, Marco Polo says (I, p. 108): Their ships are wretched affairs, and many of them get lost ; for they have no iron fastenings, and are only stitched together with twine made from the husk of the Indian nut. They beat this husk until it becomes like horse-hair, and from that they spin twine, and with this stitch the planks of the ships together. It keeps well, and is not corroded by the sea-water, but it will not stand well in a storm. The ships are not pitched, but are rubbed with fish-oil. They have one mast, one sail, and one rudder, and have no deck, but only a cover spread over the cargo when loaded. This cover consists of hides, and on the top of these hides they put the horses which they take to India for sale. They have no iron to make nails of, and for this reason they use only wooden trenails in their shipbuilding, and then stitch the planks with twine as I have told you. Hence 'tis a perilous business to go a voyage in one of those ships, and many of them are lost, for in that C. Y. c. 8
- 46. 114 THE TRAVELS OF FRIAR ODORIC twine. On one of these vessels I embarked, and I could find no iron at all therein And having thus embarked, I passed over in twenty-eight days to Tana'-^, where for the faith of Christ four of our Minor Friars had suffered a glorious martyrdom. The city is excellent in position, and hath great store of bread and wine^ and aboundeth in trees. This was a great place in days of old, for it was the city of King Poms'*, who waged so great a battle with King Alexander. The people thereof are idolaters^, for they worship fire, and serpents, and trees also. The land is under the dominion of the Saracens, who have taken it by Sea of India the storms are often terrible. These ships are also spoken of by Jordanus and Montecorvino. See Marco Polo, I, p. 117, note. Oriental legends say that no iron can be used in the ships navigating the seas of Asia owing to loadstones. Cf. an interestingarticle of Rend Basset, La Moiitagne d'' Aimant^ Revue des Traditions populaires^ July 1894, pp. 377-380. ^ [In quo nullum fratrum ! ! potui reperire. — Boll.] ^ Thana, an ancient city on the landward side of the island of Salsette, once the capital of Konkan and a haven of importance, but long superseded by Bombay ; it is mentioned as a cotton port by Marco Polo. [II, pp, 395, 396n.] How Porus was brought to these parts it is hard to say. But Gasparo Balbi (1580), speaking of the Cave of Elephanta at Cape Bombain, says that it was formed by Alexander the Great to mark his furthest conquest. This may have been a current Mahomedan story, and might account for Porus being translated to Tana. ^ Di quindi navicammo per lo mare oceano venti otto di ; poi pervenimmo in Tana, la quale fu cittade del Re Poito ; la quale terra e posta in buon luogo, ed a grande abondanza di vittuaglia, espezialmente di burro, di siisuan [sisamo?], e riso. Ouivi sono molti diversi animali, leoni neri, e pipistrelli grandi come anitre, topi grandi come cani communi, nfe non sono presi da gatti ma da cani per la loro grandeza. In questa terra sono idolatrici, ma'l signore adorano i saracini il bue e dicono ch' egli e il grande Idio, e non mangiano carne di bue, e lavorano col buese i anni, il settimo anno i lasciano libero. Prendono anche dello stereo del bue, e pongolosi a la faccia, e dicono da indi
- 47. inanzi che sono santificati. — Pal. * [ Nam fuit ciuitas Regis Ponti vel Parti Regis. — BoLL. who add in a note : Imo Pori, ut alij.] 5 La gente h idolatra, e adora il bue, della cui carne non ne mangierebbeno per qual siuoglia cosa del mondo. Mogli fanno ben lauorar la terra : Pero giunti che sono al sesto anno, li lasciano andar via done loro place, egli adorano in ogniloco, che se gli fanno in contro. E del loro stereo, se n' vngono il viso, credendo eglino allhora esser santificati. — MiN. Ram.
- 48. THE TRAVELS OF FRIAR ODORIC II5 force of arms, and they are now subject to the Empire of DlLI Here be found sundry kinds of beasts, and especially black lions in v^ery great numbers, besides monkeys and baboons, and bats as big as pigeons are here. There be also rats as big as here are our dogs called scJierpi'^. And 1 I have ventured here, in justice to Odoric, to restore this name as I beheve he really employed it. It is in the Latin text '•'' subjaceiites Daldili.^'' Odoric, doubtless, in his dictation, said ''' sotto la signoria del Dili. Thus, in Fra Mauro's map, we find tolerably well placed, Deli cittade grajidissima and the rubric attached, Qiiesta cittade nobilissi)iia za dominaifa into el Paese del Deli over hidia Prima^'' and again to the city of Here (Herat), Qiiella era za sotto la Signoria DEL Deli, etc. The same kind of fusion and confusion which has created a King Daldili has led to many other strange perversions. The ancient Malabar port and point of Hili survives in our maps only as Mount Deli. Marco Polo is made to call Lahore the city of Dilivar., and the Cilician port of Aias — Laias ; whilst the name of King D'or, lay which (according to Marsden's happy suggestion) he translated the title of the Chinese Ki7t or Golden Dynasty, appeared in the Latin editions as Darius. So we shall afterwards find that the Tartar name Talai, which Odoric gives to the Yang tze kiang, becomes in most MSS. Doltalay ; and in the English Mandeville we find the land of Dengadda and the Lake of Dasfetidee, for Engaddi and Asphaltites. An analogous case to that of King Daldili also occurs in the city where I write this. An English Archbishop of Palermo, whose name is believed to have been Walter (o' the) Mill, has been handed down as Gualteriis Ofaniilius. A reverse process also is often found to have taken place. The Arabs have made the Lazarus of the Gospel into 'Azdr ; we often see Germany spoken of in Italy as La Magna ; and from the Portuguese Laranja, a corruption of the Indian Naranja, we have got our English Orange, and the modern Latin form (implying a false etymology) Auranlia. [With regard to the dominion of the Saracens, we may observe that the house of Khilije, founded by Jalal-ud-din who succeeded to the throne of Delhi lasted from 1290 to 1320 ; Ala-ud-din, the nephew and successor of Jalal-ud-din,
- 49. extended the Mohammedan power at the expense of the Solankis of Gujarat (1297), of the Yadavas of Devagiri, on the east, on the very coast of Tana, andof the Hoysalas of Dv^rasamudra, in the south ; in 13 18, a short time before the arrival of Odoric, Harapala, the last of the sovereigns of Devagiri, revolted, was captured and skinned alive by Miibarik, successor of Ala-ud-din. The house of Khilije was replaced by a Tiirki slave, leader of a rebellion, Ghiy^s-ud-din Tughlak, who founded the Tughlak dynasty (1320-1414). It is evident from Odoric's testimonial that — if rebellions were constant inland — the maritime emporia were kept in order by the Musulman governors. — H. C.] ^ This word is written also sce/i, dcpi, scoipi, sarpi, etc., because (it may be supposed) the transcribers, like the present editor, could make nothing of it.
- 50. Il6 THE TRAVELS OF FRIAR ODORIC for this reason rats are there caught by dogs, for the mousers or cats are of no use for that In this country every man hath before his house a plant of twigs as thick as a pillar would be here, and this never withers as long as it gets water. And many other strange things are there which it would be pretty to hear telP. [The women go naked there, and when a woman is married she is set on a horse, and the husband gets on the crupper and holds a knife pointed at her throat ; and they have nothing on except a high cap on their head like a mitre, wrought with white flowers, and all the maidens of the place go singing in a row in front of them till they reach the house, and there the bride and bridegroom are left alone, and when they get up in the morning they go naked as before^] [ Qui viddi vno Leon grande, e negrissimo, alia guisa di vn bufalo : e viddi le nottole, o vogliam dire uespertiglioni, come sono le anatre di qui da noi. E topi, chiamati Sorici di Faraone, che sono grandi come uolpi, e ue ne sono vu infinita grande, e peggiori de cani mordenti : il paese c di Saracini. — (MiN. Ram.) 1 have no doubt that this passage refers to the mangouste or ichneumon {Herpestes ichneiuno7i) formerly found in this part of Asia as well as in Egypt where it was venerated. — H. C. — See Marco Polo^ I, p. 254, note 3.] ^ As to the great bats and rats enough has been said in the notes to Jordanus (pp. 19, 29). The word which I have translated bats is iioctua^ but I think bats are meant. Nottola in Italian means not an owl but a bat ; and the MiN. Ram. and Pal. confirm this. They also say as big as our ducks, which is more germane than pigeons. The black lions'' are tigers, we may presume. Polo always calls tigers lions. Nigri leones, apparently for tigers, will be found in the Latin translation of Arabshah's Life of Timur^ i, p. 466. [See note, supra.^ 2 This passage must have been mangled in the dictation. But it is evident that what is spoken of is the sacred Tulasi or Basil {Ocyniuni Sanctum). The following extract describes intelligibly and correctly what Odoric's amanuensis apparently did not understand. Almost all the Hindus... adore a plant like our Basilico Gc7ttile, but of more pungent odour. ...Everyone before his house has a little altar, girt
- 51. with a wall half an ell high, in the middle of which they erect certain pedestals like little towers, and in these the shrub is grown. They recite their prayers daily before it, with repeated prostrations, sprinklings of water, etc. There are also many of these maintained at the bathing places, and in the courts of their'pagodas. ( Vincaizo Mai'ia., p. 300 ; see also Ward's Hindoos., iii, 203.) ^ From MiN. RAM.
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