Abstract: In this paper, a new approach based on the extent of
friendship between the nodes is proposed which makes the nodes to
co-operate in an ad hoc environment. The extended DSR protocol is
tested under different scenarios by varying the number of malicious
nodes and node moving speed. It is also tested varying the number of
nodes in simulation used. The result indicates the achieved
throughput by extended DSR is greater than the standard DSR and
indicates the percentage of malicious drops over total drops are less
in the case of extended DSR than the standard DSR.
Abstract: The study of human hand morphology reveals that developing an artificial hand with the capabilities of human hand is an extremely challenging task. This paper presents the development of a robotic prosthetic hand focusing on the improvement of a tendon driven mechanism towards a biomimetic prosthetic hand. The design of this prosthesis hand is geared towards achieving high level of dexterity and anthropomorphism by means of a new hybrid mechanism that integrates a miniature motor driven actuation mechanism, a Shape Memory Alloy actuated mechanism and a passive mechanical linkage. The synergy of these actuators enables the flexion-extension movement at each of the finger joints within a limited size, shape and weight constraints. Tactile sensors are integrated on the finger tips and the finger phalanges area. This prosthesis hand is developed with an exact size ratio that mimics a biological hand. Its behavior resembles the human counterpart in terms of working envelope, speed and torque, and thus resembles both the key physical features and the grasping functionality of an adult hand.
Abstract: The Block Sorting problem is to sort a given
permutation moving blocks. A block is defined as a substring
of the given permutation, which is also a substring of the
identity permutation. Block Sorting has been proved to be
NP-Hard. Until now two different 2-Approximation algorithms
have been presented for block sorting. These are the best known
algorithms for Block Sorting till date. In this work we present
a different characterization of Block Sorting in terms of a
transposition cycle graph. Then we suggest a heuristic,
which we show to exhibit a 2-approximation performance
guarantee for most permutations.
Abstract: Any rotation of a 3-dimensional object can be performed by three consecutive rotations over Euler angles. Intrinsic rotations produce the same result as extrinsic rotations in transformation. Euler rotations are the movement obtained by changing one of the Euler angles while leaving the other two constant. These Euler rotations are applied in a simple two-axis gimbals set mounted on an automotives. The values of Euler angles are [π/4, π/4, π/4] radians inside the angles ranges for a given coordinate system and these actual orientations can be directly measured from these gimbals set of moving automotives but it can occur the gimbals lock in application at [π/2.24, 0, 0] radians. In order to avoid gimbals lock, the values of quaternion must be [π/4.8, π/8.2, 0, π/4.8] radians. The four-gimbals set can eliminate gimbals lock.
Abstract: Green Lean Total Quality Management (TQM)
System is a system comprises of Environmental Management System
(EMS) practices which is integrated to TQM with Lean
Manufacturing (LM) principles. The ultimate goal of this system is to
focus on achieving total customer satisfaction and environmental care by removing eight wastes available in any process in an
organization. A survey questionnaire was developed and distributed to 30 highly active automotive vendors in Malaysia and analyzed by
SPSS v.17. It was found out that some vendors have been practicing TQM and LM while some have started to implement EMS. This
study is only focusing on highly active companies that have been involved in MAJAICO Program and Proton Vendor Development
Program. This is the first study conducted to know the current status of TQM, LM and EMS practices in highly active automotive companies in Malaysia. It was found out that EMS has been
practiced by 16 companies out of 30. Within these 16 companies the
approach is more holistic and green. This is a preliminary study that combined 4 awards practices, ISO/TS16949, Toyota Production
System SAEJ4000, MAJAICO Lean Production System and EMS.
Abstract: In this article, we propose a new surgical device for
circumferentially excision of high anal fistulas in a minimally
invasive manner. The new apparatus works on the basis of axially
rotating and moving a tubular blade along a fistulous tract
straightened using a rigid straight guidewire. As the blade moves
along the tract, its sharp circular cutting edge circumferentially
separates approximately 2.25 mm thickness of tract encircling the
rigid guidewire. We used the new set to excise two anal fistulas in a
62-year-old male patient, an extrasphincteric type and a long tract
with no internal opening. With regard to the results of this test, the
new device can be considered as a sphincter preserving mechanism
for treatment of high anal fistulas. Consequently, a major reduction
in the risk of fecal incontinence, recurrence rate, convalescence
period and patient morbidity may be achieved using the new device
for treatment of fistula-in-ano.
Abstract: The remediation of water resources pollution in
developing countries requires the application of alternative
sustainable cheaper and efficient end-of-pipe wastewater treatment
technologies. The feasibility of use of South African cheap and
abundant pine tree (Pinus patula) sawdust for development of lowcost
AC of comparable quality to expensive commercial ACs in the
abatement of water pollution was investigated. AC was developed at
optimized two-stage N2-superheated steam activation conditions in a
fixed bed reactor, and characterized for proximate and ultimate
properties, N2-BET surface area, pore size distribution, SEM, pHPZC
and FTIR. The sawdust pyrolysis activation energy was evaluated by
TGA. Results indicated that the chars prepared at 800oC and 2hrs
were suitable for development of better quality AC at 800oC and 47%
burn-off having BET surface area (1086m2/g), micropore volume
(0.26cm3/g), and mesopore volume (0.43cm3/g) comparable to
expensive commercial ACs, and suitable for water contaminants
removal. The developed AC showed basic surface functionality at
pHPZC at 10.3, and a phenol adsorption capacity that was higher than
that of commercial Norit (RO 0.8) AC. Thus, it is feasible to develop
better quality low-cost AC from (Pinus patula) sawdust using twostage
N2-steam activation in fixed-bed reactor.
Abstract: Academic digital libraries emerged as a result of advances in computing and information systems technologies, and had been introduced in universities and to public. As results, moving in parallel with current technology in learning and researching environment indeed offers myriad of advantages especially to students and academicians, as well as researchers. This is due to dramatic changes in learning environment through the use of digital library system which giving spectacular impact on these societies- way of performing their study/research. This paper presents a survey of current criteria for evaluating academic digital libraries- performance. The goal is to discuss criteria being applied so far for academic digital libraries evaluation in the context of user-centered design. Although this paper does not comprehensively take into account all previous researches in evaluating academic digital libraries but at least it can be a guide in understanding the evaluation criteria being widely applied.
Abstract: Explosive welding is a process which uses explosive
detonation to move the flyer plate material into the base material to
produce a solid state joint. Experimental tests have been carried out
by other researchers; have been considered to explosively welded
aluminium 7039 and steel 4340 tubes in one step. The tests have been
done using various stand-off distances and explosive ratios. Various
interface geometries have been obtained from these experiments. In
this paper, all the experiments carried out were simulated using the
finite element method. The flyer plate and collision velocities
obtained from the analysis were validated by the pin-measurement
experiments. The numerical results showed that very high localized
plastic deformation produced at the bond interface. The
Ls_dyna_971 FEM has been used for all simulation process.
Abstract: In this paper a multi-objective nonlinear programming
model of cellular manufacturing system is presented which minimize
the intercell movements and maximize the sum of reliability of cells.
We present a genetic approach for finding efficient solutions to the
problem of cell formation for products having multiple routings.
These methods find the non-dominated solutions and according to
decision makers prefer, the best solution will be chosen.
Abstract: The effects of equilibrium time, solution pH, and
sorption temperature of cationic methylene blue (MB) adsorption on nanoporous metallosilicoaluminophosphate ZnAPSO-34 was studied
using a batch equilibration method. UV–VIS spectroscopy was used
to obtain the adsorption isotherms at 20° C. The optimum period for
adsorption was 300 min. However, MB removal increased from
81,82 % to 94,81 %. The equilibrium adsorption data was analyzed
by using Langmuir, Freundlich and Temkin isotherm models.
Langmuir isotherm was found to be the better-fitting model and the process followed pseudo second–order kinetics. The results showed
that ZnAPSO-34 could be employed as an effective material and could be an attractive alternative for the removal of dyes and colors
from aqueous solutions.
Abstract: In the present work, a study has been made on the combination of the electrical discharge machining (EDM) with ultrasonic vibrations to improve the machining efficiency. In experiments the graphite used as tool electrode and material of workpiece was AISIH13 tool steel. The parameters such as discharge peak current and pulse duration were changed to explore their effect on the material removal rate (MRR), relative tool wear ratio (TWR) and surface roughness. From the experimental result it can be seen that ultrasonic vibration of the workpiece can significantly reduces the inactive pulses and improves the stability of process. It was found that ultrasonic assisted EDM (US-EDM) is effective in attaining a high material removal rate (MRR) in finishing regime.
Abstract: Cameras are often mounted on platforms that canmove like rovers, booms, gantries and aircraft. People operate suchplatforms to capture desired views of scene or target. To avoidcollisions with the environment and occlusions, such platforms oftenpossess redundant degrees-of-freedom. As a result, manipulatingsuch platforms demands much skill. Visual-servoing some degrees-of-freedom may reduce operator burden and improve tracking per-formance. This concept, which we call human-in-the-loop visual-servoing, is demonstrated in this paper and applies a Α-β-γ filter and feedforward controller to a broadcast camera boom.
Abstract: Proximate (moisture, protein, total fat, total ash) and mineral (K, P, Na, Mg, Ca, Zn, Fe, Cu and Mn) composition of chicken giblets (heart, liver and gizzard) were investigated. Phosphorous content, as well as proximate composition, were determined according to recommended ISO methods. The content of all elements, except phosphorus, of the giblets tissues were determined using inductively coupled plasma-optical emission spectrometry (ICP-OES), after dry ashing mineralization. Regarding proximate composition heart was the highest in total fat content, and the lowest in protein content. Liver was the highest in protein and total ash content, while gizzard was the highest in moisture and the lowest in total fat content. Regarding mineral composition liver was the highest for K, P, Ca, Mg, Fe, Zn, Cu, and Mn, while heart was the highest for Na content. The contents of almost all investigated minerals in analysed giblets tissues of chickens from Vojvodina were similar to values reported in the literature, i.e. in national food composition databases of other countries.
Abstract: Designing modern machine tools is a complex task. A
simulation tool to aid the design work, a virtual machine, has
therefore been developed in earlier work. The virtual machine
considers the interaction between the mechanics of the machine
(including structural flexibility) and the control system. This paper
exemplifies the usefulness of the virtual machine as a tool for product
development. An optimisation study is conducted aiming at
improving the existing design of a machine tool regarding weight and
manufacturing accuracy at maintained manufacturing speed. The
problem can be categorised as constrained multidisciplinary multiobjective
multivariable optimisation. Parameters of the control and
geometric quantities of the machine are used as design variables. This
results in a mix of continuous and discrete variables and an
optimisation approach using a genetic algorithm is therefore
deployed. The accuracy objective is evaluated according to
international standards. The complete systems model shows nondeterministic
behaviour. A strategy to handle this based on statistical
analysis is suggested. The weight of the main moving parts is reduced
by more than 30 per cent and the manufacturing accuracy is
improvement by more than 60 per cent compared to the original
design, with no reduction in manufacturing speed. It is also shown
that interaction effects exist between the mechanics and the control,
i.e. this improvement would most likely not been possible with a
conventional sequential design approach within the same time, cost
and general resource frame. This indicates the potential of the virtual
machine concept for contributing to improved efficiency of both
complex products and the development process for such products.
Companies incorporating such advanced simulation tools in their
product development could thus improve its own competitiveness as
well as contribute to improved resource efficiency of society at large.
Abstract: The present work presents the extraction of copper(II)
from sulphuric acid solutions with Sodium diethyldithiocarbamate
(SDDT), and six different organic diluents: Dichloromethane,
Chloroform, Carbon tetrachloride, Toluene, xylene and Cyclohexane,
were tested. The pair SDDT/Chloroform showed to be the most
selective in removing the copper cations, and hence was considered
throughout the experimental study.
The effects of operating parameters such as the initial concentration
of the extracting agent, the agitation time, the agitation speed and the
acid concentration were considered.
For an initial concentration of Cu (II) of 63 ppm in a 0.5 M sulphuric
acid solution, both with a mass of the extracting agent of 20 mg, an
extraction percentage of about 97.8 % and a distribution coefficient
of 44.42 were obtained, respectively, confirming the performance
of the SDDT-Chloroform pair.
Abstract: Calcium is very important for communication among
the neurons. It is vital in a number of cell processes such as secretion,
cell movement, cell differentiation. To reduce the system of reactiondiffusion
equations of [Ca2+] into a single equation, two theories
have been proposed one is excess buffer approximation (EBA) other
is rapid buffer approximation (RBA). The RBA is more realistic than
the EBA as it considers both the mobile and stationary endogenous
buffers. It is valid near the mouth of the channel. In this work we have
studied the effects of different types of buffers on calcium diffusion
under RBA. The novel thing studied is the effect of sodium ions on
calcium diffusion. The model has been made realistic by considering
factors such as variable [Ca2+], [Na+] sources, sodium-calcium
exchange protein(NCX), Sarcolemmal Calcium ATPase pump. The
proposed mathematical leads to a system of partial differential equations
which has been solved numerically to study the relationships
between different parameters such as buffer concentration, buffer
disassociation rate, calcium permeability. We have used Forward
Time Centred Space (FTCS) approach to solve the system of partial
differential equations.
Abstract: Identifying and classifying intersections according to
severity is very important for implementation of safety related
counter measures and effective models are needed to compare and
assess the severity. Highway safety organizations have considered
intersection safety among their priorities. In spite of significant
advances in highways safety, the large numbers of crashes with high
severities still occur in the highways. Investigation of influential
factors on crashes enables engineers to carry out calculations in order
to reduce crash severity. Previous studies lacked a model capable of
simultaneous illustration of the influence of human factors, road,
vehicle, weather conditions and traffic features including traffic
volume and flow speed on the crash severity. Thus, this paper is
aimed at developing the models to illustrate the simultaneous
influence of these variables on the crash severity in urban highways.
The models represented in this study have been developed using
binary Logit Models. SPSS software has been used to calibrate the
models. It must be mentioned that backward regression method in
SPSS was used to identify the significant variables in the model.
Consider to obtained results it can be concluded that the main
factor in increasing of crash severity in urban highways are driver
age, movement with reverse gear, technical defect of the vehicle,
vehicle collision with motorcycle and bicycle, bridge, frontal impact
collisions, frontal-lateral collisions and multi-vehicle crashes in
urban highways which always increase the crash severity in urban
highways.
Abstract: To estimate the risks of dam failure phenomenon, it is necessary to understand this phenomenon and the involved governing factors. Overtopping and piping are the two main reasons of earthdam failures. In the piping context, the piping is determined as a phenomenon which is occurred between two phases, the water liquid and the solid soil. In this investigation, the onset of piping and its development, as well as the movement of water in soil, are numerically approached. In this regard, a one-dimensional numerical model based on the mass-conserving finite-volume method is developed and applied in order to simulate the piping phenomenon in a continuous circular tunnel of given initial length and radius, located between upstream and downstream. The simulation result includes the time-variations of radius along the tunnel until the radius value reaches its critical and the piping phenomenon converts to overtopping.
Abstract: This study is aimed to investigate feasibility of the
aerobic biological process to treat oily wastewater from palm oil food
industry. Effect of aeration and sludge concentrations are studied.
Raw sludge and raw wastewater was mixed and acclimatized for five
days in a stirred tank reactor. The aeration rate (no aeration, low;
1.5L/min and high rate; 2L/min) and sludge concentration (3675,
7350, and 11025mg/L of VSS) were varied. Responses of process
were pH, COD, oil and grease, VSS, and PHB content. It was found
that the treatment can remove 85.1 to 97.1 % of COD and remove
12.9 to 54.8% of oil & grease. The PHB yield was found to be within
0.15% to 2.4% as PHB/VSS ratio and 0.01% to 0.12% as PHB/COD
removed. The higher aeration results a high COD removal and oil &
grease removal, while experiment without aeration gives better PHB
yield. Higher sludge concentrations (11025mg/L VSS) give higher
removal of oil & grease while moderate sludge concentration
(7350mg/L VSS) give better result in COD removal. Higher PHB
yield is obtained in low sludge concentration (3675mg/L).