Abstract: This paper addresses the problem of trajectory
tracking control of an underactuated autonomous underwater vehicle
(AUV) in the horizontal plane. The underwater vehicle under
consideration is not actuated in the sway direction, and the system
matrices are not assumed to be diagonal and linear, as often found in
the literature. In addition, the effect of constant bias of environmental
disturbances is considered. Using backstepping techniques and the
tracking error dynamics, the system states are stabilized by forcing
the tracking errors to an arbitrarily small neighborhood of zero. The
effectiveness of the proposed control method is demonstrated through
numerical simulations. Simulations are carried out for an
experimental vehicle for smooth, inertial, two dimensional (2D)
reference trajectories such as constant velocity trajectory (a circle
maneuver – constant yaw rate), and time varying velocity trajectory
(a sinusoidal path – sinusoidal yaw rate).
Abstract: With the advent of new technologies, factors related to
mental health in e-workspaces are taken into consideration more than
ever. Studies have revealed that one of the factors affecting the
productivity of employees in an organization is occupational stress.
Another influential factor is quality of work life which is important in
the improvement of work environment conditions and organizational
efficiency. In order to uncover the quality of work life level and to
investigate the impact of occupational stress on quality of work life
among information technology employees in Iran, a cross-sectional
study design was applied and data were gathered using a
questionnaire validated by a group of experts. The results of the study
showed that information technology staffs have average level of both
occupational stress and quality of work life. Furthermore, it was
found that occupational stress has a negative impact on quality of
work life. In addition, the same results were observed for role
ambiguity, role conflict, role under-load, work-pace, work
repetitiveness and tension toward quality of work life. No significant
relation was found between role overload and quality of work life.
Finally, directions for future research are proposed and discussed.
Abstract: In this paper, a worm-like micro robot designed for inpipe
application with intelligent active force control (AFC) capability
is modelled and simulated. The motion of the micro robot is based on
an impact drive mechanism (IDM) that is actuated using piezoelectric
device. The trajectory tracking performance of the modelled micro
robot is initially experimented via a conventional proportionalintegral-
derivative (PID) controller in which the dynamic response of
the robot system subjected to different input excitations is
investigated. Subsequently, a robust intelligent method known as
active force control with fuzzy logic (AFCFL) is later incorporated
into the PID scheme to enhance the system performance by
compensating the unwanted disturbances due to the interaction of the
robot with its environment. Results show that the proposed AFCFL
scheme is far superior than the PID control counterpart in terms of
the system-s tracking capability in the wake of the disturbances.
Abstract: Aggressive scaling of MOS devices requires use of ultra-thin gate oxides to maintain a reasonable short channel effect and to take the advantage of higher density, high speed, lower cost etc. Such thin oxides give rise to high electric fields, resulting in considerable gate tunneling current through gate oxide in nano regime. Consequently, accurate analysis of gate tunneling current is very important especially in context of low power application. In this paper, a simple and efficient analytical model has been developed for channel and source/drain overlap region gate tunneling current through ultra thin gate oxide n-channel MOSFET with inevitable deep submicron effect (DSME).The results obtained have been verified with simulated and reported experimental results for the purpose of validation. It is shown that the calculated tunnel current is well fitted to the measured one over the entire oxide thickness range. The proposed model is suitable enough to be used in circuit simulator due to its simplicity. It is observed that neglecting deep sub-micron effect may lead to large error in the calculated gate tunneling current. It is found that temperature has almost negligible effect on gate tunneling current. It is also reported that gate tunneling current reduces with the increase of gate oxide thickness. The impact of source/drain overlap length is also assessed on gate tunneling current.
Abstract: Harmonic pollution and low power factor in power
systems caused by power converters have been of great concern. To
overcome these problems several converter topologies using
advanced semiconductor devices and control schemes have been
proposed. This investigation is to identify a low cost, small size,
efficient and reliable ac to dc converter to meet the input performance
index of UPS. The performance of single phase and three phase ac to
dc converter along with various control techniques are studied and
compared. The half bridge converter topology with linear current
control is identified as most suitable. It is simple, energy efficient
because of single switch power loss and transformer-less operation of
UPS. The results are validated practically using a prototype built
using IGBT and analog controller. The performance for both single
and three-phase system is verified. Digital implementation of closed
loop control achieves higher reliability. Its cost largely depends on
chosen bit precision. The minimal bit precision for optimum
converter performance is identified as 16-bit with fixed-point
operation. From the investigation and practical implementation it is
concluded that half bridge ac – dc converter along with digital linear
controller meets the performance index of UPS for single and three
phase systems.
Abstract: Chikungunya virus (CHICKV) is an arboviruses belonging to family Tagoviridae and is transmitted to human through by mosquito (Aedes aegypti and Aedes albopictus) bite. A large outbreak of chikungunya has been reported in India between 2006 and 2007, along with several other countries from South-East Asia and for the first time in Europe. It was for the first time that the CHICKV outbreak has been reported with mortality from Reunion Island and increased mortality from Asian countries. CHICKV affects all age groups, and currently there are no specific drugs or vaccine to cure the disease. The need of antiviral agents for the treatment of CHICKV infection and the success of virtual screening against many therapeutically valuable targets led us to carry out the structure based drug design against Chikungunya nSP2 protease (PDB: 3TRK). Highthroughput virtual screening of publicly available databases, ZINC12 and BindingDB, has been carried out using the Openeye tools and Schrodinger LLC software packages. Openeye Filter program has been used to filter the database and the filtered outputs were docked using HTVS protocol implemented in GLIDE package of Schrodinger LLC. The top HITS were further used for enriching the similar molecules from the database through vROCS; a shape based screening protocol implemented in Openeye. The approach adopted has provided different scaffolds as HITS against CHICKV protease. Three scaffolds: Indole, Pyrazole and Sulphone derivatives were selected based on the docking score and synthetic feasibility. Derivatives of Pyrazole were synthesized and submitted for antiviral screening against CHICKV.
Abstract: Fault-proneness of a software module is the
probability that the module contains faults. A correlation exists
between the fault-proneness of the software and the measurable
attributes of the code (i.e. the static metrics) and of the testing (i.e.
the dynamic metrics). Early detection of fault-prone software
components enables verification experts to concentrate their time and
resources on the problem areas of the software system under
development. This paper introduces Genetic Algorithm based
software fault prediction models with Object-Oriented metrics. The
contribution of this paper is that it has used Metric values of JEdit
open source software for generation of the rules for the classification
of software modules in the categories of Faulty and non faulty
modules and thereafter empirically validation is performed. The
results shows that Genetic algorithm approach can be used for
finding the fault proneness in object oriented software components.
Abstract: An effort has been taken to simulate the combustion
and performance characteristics of biodiesel fuel in direct injection
(D.I) low heat rejection (LHR) diesel engine. Comprehensive
analyses on combustion characteristics such as cylinder pressure,
peak cylinder pressure, heat release and performance characteristics
such as specific fuel consumption and brake thermal efficiency are
carried out. Compression ignition (C.I) engine cycle simulation was
developed and modified in to LHR engine for both diesel and
biodiesel fuel. On the basis of first law of thermodynamics the
properties at each degree crank angle was calculated. Preparation and
reaction rate model was used to calculate the instantaneous heat
release rate. A gas-wall heat transfer calculations are based on the
ANNAND-s combined heat transfer model with instantaneous wall
temperature to analyze the effect of coating on heat transfer. The
simulated results are validated by conducting the experiments on the
test engine under identical operating condition on a turbocharged D.I
diesel engine. In this analysis 20% of biodiesel (derived from
Jatropha oil) blended with diesel and used in both conventional and
LHR engine. The simulated combustion and performance
characteristics results are found satisfactory with the experimental
value.
Abstract: In the context of large volume Big Divisor (nearly)
SLagy D3/D7 μ-Split SUSY [1], after an explicit identification
of first generation of SM leptons and quarks with fermionic superpartners
of four Wilson line moduli, we discuss the identification of
gravitino as a potential dark matter candidate by explicitly calculating
the decay life times of gravitino (LSP) to be greater than age of
universe and lifetimes of decays of the co-NLSPs (the first generation
squark/slepton and a neutralino) to the LSP (the gravitino) to be
very small to respect BBN constraints. Interested in non-thermal
production mechanism of gravitino, we evaluate the relic abundance
of gravitino LSP in terms of that of the co-NLSP-s by evaluating
their (co-)annihilation cross sections and hence show that the former
satisfies the requirement for a potential Dark Matter candidate. We
also show that it is possible to obtain a 125 GeV light Higgs in our
setup.
Abstract: Ranking of fuzzy numbers play an important role in
decision making, optimization, forecasting etc. Fuzzy numbers must
be ranked before an action is taken by a decision maker. In this
paper, with the help of several counter examples it is proved that
ranking method proposed by Chen and Chen (Expert Systems with
Applications 36 (2009) 6833-6842) is incorrect. The main aim of this
paper is to propose a new approach for the ranking of generalized
trapezoidal fuzzy numbers. The main advantage of the proposed
approach is that the proposed approach provide the correct ordering
of generalized and normal trapezoidal fuzzy numbers and also the
proposed approach is very simple and easy to apply in the real life
problems. It is shown that proposed ranking function satisfies all
the reasonable properties of fuzzy quantities proposed by Wang and
Kerre (Fuzzy Sets and Systems 118 (2001) 375-385).
Abstract: Nowadays, consumption of whole flours and flours
with high extraction rate is recommended, because of their high
amount of fibers, vitamins and minerals. Despite nutritional benefits
of whole flour, concentration of some undesirable components such
as phytic acid is higher than white flour. In this study, effect of
several lactic acid bacteria sourdough on Toast bread is investigated.
Sourdough from lactic acid bacteria (Lb. plantarum, Lb. reuteri) with
different dough yield (250 and 300) is made and incubated at 30°C
for 20 hour, then added to dough in the ratio of 10, 20 and 30%
replacement. Breads that supplemented with Lb. plantarum
sourdough had lower phytic acid. Higher replacement of sourdough
and higher DY cause higher decrease in phytic acid content.
Sourdough from Lb. plantarum, DY = 300 and 30% replacement
cause the highest decrease in phytic acid content (49.63 mg/100g).
As indicated by panelists, Lb. reuteri sourdough can present the
greatest effect on overall quality score of the breads. DY reduction
cause a decrease in bread quality score. Sensory score of Toast bread
is 81.71 in the samples that treated with Lb. reuteri sourdough with
DY = 250 and 20% replacement.
Abstract: A total of twenty tensile biopsies were collected from
children undergoing tonsillectomy from teaching hospital ENT
department and Kurdistan private hospital in sulaimani city. All
biopsies were homogenized and cultured; the obtained bacterial
isolates were purified and identified by biochemical tests and VITEK
2 compact system. Among the twenty studied samples, only one
Pseudomonas putida with probability of 99% was isolated.
Antimicrobial susceptibility was carried out by disk diffusion
method, Pseudomonas putida showed resistance to all antibiotics
used except vancomycin. The isolate further subjected to PCR and
DNA sequence analysis of blaVIM gene using different set of primers
for different regions of VIM gene. The results were found to be PCR
positive for the blaVIM gene. To determine the sequence of blaVIM
gene, DNA sequencing performed. Sequence alignment of blaVIM
gene with previously recorded blaVIM gene in NCBI- database showed
that P. putida isolate have different blaVIM gene.
Abstract: A novel method of learning complex fuzzy decision regions in the n-dimensional feature space is proposed. Through the fuzzy decision regions, a given pattern's class membership value of every class is determined instead of the conventional crisp class the pattern belongs to. The n-dimensional fuzzy decision region is approximated by union of hyperellipsoids. By explicitly parameterizing these hyperellipsoids, the decision regions are determined by estimating the parameters of each hyperellipsoid.Genetic Algorithm is applied to estimate the parameters of each region component. With the global optimization ability of GA, the learned decision region can be arbitrarily complex.
Abstract: carrot is one of the important root vegetable crops,
and it is highly nutritious as it contains appreciable amount of
vitamins, minerals and β-carotene. The major objective of current
research was to evaluate the chemical composition of carrot variety
'Nante' hybrids in general and to select the best samples for fresh-cut
salad production. The research was accomplished on fresh in Latvia
cultivated carrots harvested in Zemgale region in the first part of
October, 2011 and immediately used for experiments. Late-bearing
variety 'Nante' hybrid carrots were used for analysis:
'Nante/Berlikum', 'Nante/Maestro', 'Nante/Forto', 'Nante/Bolero'
and 'Nante/Champion'. The quality parameters as moisture, soluble
solid, firmness, b-carotene, carotenoid, color, polyphenols, total
phenolic compounds and total antioxidant capacity were analyzed
using standard methods. For fresh-cut salad production as more
applicable could be recommended hybrids 'Nante/Forto' and
'Nante/Berlikum' - mainly because it-s higher nutritive value, as
higher total phenolic compounds, polyphenols and pronounced
antioxidant capacity.
Abstract: The paper attempts to contribute to the largely
neglected social and anthropological discussion of technology development on the one hand, and to redirecting the emphasis in
anthropology from primitive and exotic societies to problems of high
relevance in contemporary era and how technology is used in
everyday life. It draws upon multidimensional models of intelligence
and ideal type formation. It is argued that the predominance of
computational and cognitive cosmovisions have led to technology alienation. Injection of communicative competence in artificially
intelligent systems and identity technologies in the coming
information society are analyzed
Abstract: In this paper, an automatic guided mobile robot using a new magnetic position meter is described. In order to measure the lateral position of a mobile robot, a new magnetic position meter is developed. The magnetic position meter can detect the position of a magnetic wire on the center of road. A mobile robot in designed with a sensing system, a steering system and a driving system. The designed mobile robot is tested to verify the performance of automatic guidance.
Abstract: In this paper, frequency offset (FO) estimation schemes
robust to the non-Gaussian noise environments are proposed for
orthogonal frequency division multiplexing (OFDM) systems. First,
a maximum-likelihood (ML) estimation scheme in non-Gaussian
noise environments is proposed, and then, the complexity of the
ML estimation scheme is reduced by employing a reduced set of
candidate values. In numerical results, it is demonstrated that the
proposed schemes provide a significant performance improvement
over the conventional estimation scheme in non-Gaussian noise
environments while maintaining the performance similar to the
estimation performance in Gaussian noise environments.
Abstract: Acoustical properties of speech have been shown to
be related to mental states of speaker with symptoms: depression
and remission. This paper describes way to address the issue of
distinguishing depressed patients from remitted subjects based on
measureable acoustics change of their spoken sound. The vocal-tract
related frequency characteristics of speech samples from female
remitted and depressed patients were analyzed via speech
processing techniques and consequently, evaluated statistically by
cross-validation with Support Vector Machine. Our results
comparatively show the classifier's performance with effectively
correct separation of 93% determined from testing with the subjectbased
feature model and 88% from the frame-based model based on
the same speech samples collected from hospital visiting interview
sessions between patients and psychiatrists.
Abstract: Thermally insulating ceramic coatings also known as
thermal barrier coatings (TBCs) have been essential technologies to
improve the performance and efficiency of advanced gas turbines in
service at extremely high temperatures. The damage mechanisms of
air-plasma sprayed YSZ thermal barrier coatings (TBC) with various
microstructures were studied by microscopic techniques after thermal
cycling. The typical degradation of plasma TBCs that occurs during
cyclic furnace testing of an YSZ and alumina coating on a Titanium
alloy are analyzed. During the present investigation the effects of
topcoat thickness, bond coat oxidation, thermal cycle lengths and test
temperature are investigated using thermal cycling. These results
were correlated with stresses measured by a spectroscopic technique
in order to understand specific damage mechanism. The failure
mechanism of former bond coats was found to involve fracture
initiation at the thermally grown oxide (TGO) interface and at the
TGO bond coat interface. The failure mechanism of the YZ was
found to involve combination of fracture along the interface between
TGO and bond coat.
Abstract: In this paper a three dimensional thermal model of a
power toroidal transformer is proposed for both steady-state or
transient conditions. The influence of electric current and ambient
temperature on the temperature distribution, has been investigated.
To validate the three dimensional thermal model, some experimental
tests have been done. There is a good correlation between
experimental and simulation results.