Abstract: The persistent nature of perfluorochemicals (PFCs) has attracted global concern in recent years. Perfluorooctanesulfonate (PFOS) and perfluorooctanoate (PFOA) are the most commonly found PFC compounds, and thus their fate and transport play key roles in PFC distribution in the natural environment. The kinetic behavior of PFOS or PFOA on boehmite consists of a fast adsorption process followed by a slow adsorption process which may be attributed to the slow transport of PFOS or PFOA into the boehmite pore surface. The adsorption isotherms estimated the maximum adsorption capacities of PFOS and PFOA on boehmite as 0.877 μg/m2 and 0.633 μg/m2, with the difference primarily due to their different functional groups. The increase of solution pH led to a moderate decrease of PFOS and PFOA adsorption, owing to the increase of ligand exchange reactions and the decrease of electrostatic interactions. The presence of NaCl in solution demonstrated negative effects for PFOS and PFOA adsorption on boehmite surfaces, with potential mechanisms being electrical double layer compression, competitive adsorption of chloride.
Abstract: In this paper, we introduce an mobile agent framework
with proactive load balancing for ambient intelligence (AmI) environments.
One of the main obstacles of AmI is the scalability in
which the openness of AmI environment introduces dynamic resource
requirements on agencies. To mediate this scalability problem, our
framework proposes a load balancing module to proactively analyze
the resource consumption of network bandwidth and preferred agencies
to suggest the optimal communication method to its user. The
framework generally formulates an AmI environment that consists
of three main components: (1) mobile devices, (2) hosts or agencies,
and (3) directory service center (DSC). A preliminary implementation
was conducted with NetLogo and the experimental results show that
the proposed approach provides enhanced system performance by
minimizing the network utilization to provide users with responsive
services.
Abstract: This paper presents a sensor-based motion planning algorithm for 3-DOF car-like robots with a nonholonomic constraint. Similar to the classic Bug family algorithms, the proposed algorithm enables the car-like robot to navigate in a completely unknown environment using only the range sensor information. The car-like robot uses the local range sensor view to determine the local path so that it moves towards the goal. To guarantee that the robot can approach the goal, the two modes of motion are repeated, termed motion-to-goal and wall-following. The motion-to-goal behavior lets the robot directly move toward the goal, and the wall-following behavior makes the robot circumnavigate the obstacle boundary until it meets the leaving condition. For each behavior, the nonholonomic motion for the car-like robot is planned in terms of the instantaneous turning radius. The proposed algorithm is implemented to the real robot and the experimental results show the performance of proposed algorithm.
Abstract: This paper deals with motion planning of multiple
mobile robots. Mobile robots working together to achieve several
objectives have many advantages over single robot system. However,
the planning and coordination between the mobile robots is
extremely difficult. In the present investigation rule-based and rulebased-
neuro-fuzzy techniques are analyzed for multiple mobile
robots navigation in an unknown or partially known environment.
The final aims of the robots are to reach some pre-defined goals.
Based upon a reference motion, direction; distances between the
robots and obstacles; and distances between the robots and targets;
different types of rules are taken heuristically and refined later to find
the steering angle. The control system combines a repelling influence
related to the distance between robots and nearby obstacles and with
an attracting influence between the robots and targets. Then a hybrid
rule-based-neuro-fuzzy technique is analysed to find the steering
angle of the robots. Simulation results show that the proposed rulebased-
neuro-fuzzy technique can improve navigation performance in
complex and unknown environments compared to this simple rulebased
technique.
Abstract: Postgraduate education is generally aimed at providing in-depth knowledge and understanding that include general philosophy in the world sciences, management, technologies, applications and other elements closely related to specific areas. In most universities, besides core and non-core subjects, a thesis is one of the requirements for the postgraduate student to accomplish before graduating. This paper reports on the empirical investigation into attributes that are associated with the obstacles to thesis accomplishment among postgraduate students. Using the quantitative approach the experiences of postgraduate students were tapped. Findings clearly revealed that information seeking, writing skills and other factors which refer to supervisor and time management, in particular, are recognized as contributory factors which positively or negatively influence postgraduates’ thesis accomplishment. Among these, writing skills dimensions were found to be the most difficult process in thesis accomplishment compared to information seeking and other factors. This pessimistic indication has provided some implications not only for the students but supervisors and institutions as a whole.
Abstract: This paper presents a solution for the behavioural
animation of autonomous virtual agent navigation in virtual environments.
We focus on using Dempster-Shafer-s Theory of Evidence
in developing visual sensor for virtual agent. The role of the visual
sensor is to capture the information about the virtual environment
or identifie which part of an obstacle can be seen from the position
of the virtual agent. This information is require for vitual agent to
coordinate navigation in virtual environment. The virual agent uses
fuzzy controller as a navigation system and Fuzzy α - level for
the action selection method. The result clearly demonstrates the path
produced is reasonably smooth even though there is some sharp turn
and also still not diverted too far from the potential shortest path.
This had indicated the benefit of our method, where more reliable
and accurate paths produced during navigation task.
Abstract: An important structuring mechanism for knowledge bases is building clusters based on the content of their knowledge objects. The objects are clustered based on the principle of maximizing the intraclass similarity and minimizing the interclass similarity. Clustering can also facilitate taxonomy formation, that is, the organization of observations into a hierarchy of classes that group similar events together. Hierarchical representation allows us to easily manage the complexity of knowledge, to view the knowledge at different levels of details, and to focus our attention on the interesting aspects only. One of such efficient and easy to understand systems is Hierarchical Production rule (HPRs) system. A HPR, a standard production rule augmented with generality and specificity information, is of the following form Decision If < condition> Generality Specificity . HPRs systems are capable of handling taxonomical structures inherent in the knowledge about the real world. In this paper, a set of related HPRs is called a cluster and is represented by a HPR-tree. This paper discusses an algorithm based on cumulative learning scenario for dynamic structuring of clusters. The proposed scheme incrementally incorporates new knowledge into the set of clusters from the previous episodes and also maintains summary of clusters as Synopsis to be used in the future episodes. Examples are given to demonstrate the behaviour of the proposed scheme. The suggested incremental structuring of clusters would be useful in mining data streams.
Abstract: Interpolated contour maps drawn for aluminum,
copper and molybdenum in downstream monitoring boreholes of
water dam in Miduk Copper Complex and the values of pH, redox
potential (Eh) and distance from water dam indicate different trends
of variation and behavior of these three elements in downward
groundwater resources. As these maps exhibit, aluminum is dominant
in the most alkaline (pH = 9-11) borehole (MB5) to water dam. The
highest concentration of molybdenum is found in the nearest
borehole (MB6) to water dam. Main concentration of copper is
observed in the most oxidized borehole (MB3 with Eh=293.2mV).
The spatial difference among sampling stations can be attributed to
the existence of faults and diaclases in the geologic structure of
Miduk region which causes the groundwater sampling sites to be
impressed by different contamination sources (toe seepage and upper
seepage water originated from different zones of tailings dump).
Abstract: The effect of cross linking of the protein isolates of
three legumes with the microbial enzyme transglutaminase (EC
2.3.2.13) on the functional properties at different NaCl concentration
was studied. The reduction in the total free amino groups (OD340) of
the polymerized protein showed that TGase treatment cross-linking
the protein subunit of each legume. The solubility of the protein
polymer of each legume was greatly improved at high concentration
of NaCl. At 1.2 M NaCl the solubility of the native legumes protein
was significantly decreased but after polymerization slightly
improved. Cross linked proteins were less turbid on heating to higher
temperature as compared to native proteins and the temperature at
which the protein turns turbid also increased in the polymerized
proteins. The emulsifying and foaming properties of the protein
polymer were greatly improved at all concentrations of NaCl for all
legumes.
Abstract: A simple network model is developed in OPNET to
study the performance of the Wi-Fi protocol. The model is simulated
in OPNET and performance factors such as load, throughput and delay
are analysed from the model. Four applications such as oracle, http, ftp
and voice are applied over the Wireless LAN network to determine the
throughput. The voice application utilises a considerable amount of
bandwidth of up to 5Mbps, as a result the 802.11g standard of the
Wi-Fi protocol was chosen which can support a data rate of up to
54Mbps. Results indicate that when the load in the Wi-Fi network is
increased the queuing delay on the point-to-point links in the Wi-Fi
network significantly reduces until it is comparable to that of WiMAX.
In conclusion, the queuing delay of the Wi-Fi protocol for the network
model simulated was about 0.00001secs comparable to WiMAX
network values.
Abstract: An exact algorithm for a n-link manipulator movement amidst arbitrary unknown static obstacles is presented.
The algorithm guarantees the reaching of a target configuration of the manipulator in a finite number of steps. The algorithm is
reduced to a finite number of calls of a subroutine for planning a trajectory in the presence of known forbidden states. The polynomial approximation algorithm which is used as the subroutine is presented. The results of the exact algorithm
implementation for the control of a seven link (7 degrees of
freedom, 7DOF) manipulator are given.
Abstract: This research aims to study value-creation process of
producing monk-s bowls, Thai traditional handicrafts, which is facing problems in adapting to the changing society. It also aims to identify
problems and obstacles to value creation. This research is based on a case study of monk-s bowl manufactures from Ban-Baat Village,
Bangkok. The conceptual framework is based on the model of value
chain to analyze the process.
The research methodology is qualitative. This research found that the value-creation process of monk-s bowls consists of eight
activities contributing to adding value to the products and increasing
profits to the producers in return. Five major problems and obstacles
are found.
The research suggests that these problems and obstacles limit the manufacturers- potential for creating more valued product and lead to business stagnation. These problems should be addressed and solved with collaboration among the government, the private sector and the
manufacturers.
Abstract: When a high DC voltage is applied to a capacitor with
strongly asymmetrical electrodes, it generates a mechanical force that
affects the whole capacitor. This phenomenon is most likely to be
caused by the motion of ions generated around the smaller of the two
electrodes and their subsequent interaction with the surrounding
medium. A method to measure this force has been devised and used.
A formula describing the force has also been derived. After
comparing the data gained through experiments with those acquired
using the theoretical formula, a difference was found above a certain
value of current. This paper also gives reasons for this difference.
Abstract: Polymer-like organic thin films were deposited on both
aluminum alloy type 6061 and glass substrates at room temperature by
Plasma Enhanced Chemical Vapor Deposition (PECVD) methodusing
benzene and hexamethyldisiloxane (HMDSO) as precursor materials.
The surface and physical properties of plasma-polymerized organic
thin films were investigated at different r.f. powers. The effects of
benzene/argon ratio on the properties of plasma polymerized benzene
films were also investigated. It is found that using benzene alone
results in a non-coherent and non-adherent powdery deposited
material. The chemical structure and surface properties of the asgrown
plasma polymerized thin films were analyzed on glass
substrates with FTIR and contact angle measurements. FTIR spectra
of benzene deposited film indicated that the benzene rings are
preserved when increasing benzene ratio and/or decreasing r.f.
powers. FTIR spectra of HMDSO deposited films indicated an
increase of the hydrogen concentration and a decrease of the oxygen
concentration with the increase of r.f. power. The contact angle (θ) of
the films prepared from benzene was found to increase by about 43%
as benzene ratio increases from 10% to 20%. θ was then found to
decrease to the original value (51°) when the benzene ratio increases
to 100%. The contact angle, θ, for both benzene and HMDSO
deposited films were found to increase with r.f. power. This signifies
that the plasma polymerized organic films have substantially low
surface energy as the r.f power increases. The corrosion resistance of
aluminum alloy substrate both bare and covered with plasma
polymerized thin films was carried out by potentiodynamic
polarization measurements in standard 3.5 wt. % NaCl solution at
room temperature. The results indicate that the benzene and HMDSO
deposited films are suitable for protection of the aluminum substrate
against corrosion. The changes in the processing parameters seem to
have a strong influence on the film protective ability. Surface
roughness of films deposited on aluminum alloy substrate was
investigated using scanning electron microscopy (SEM). The SEM
images indicate that the surface roughness of benzene deposited films
increase with decreasing the benzene ratio. SEM images of benzene
and HMDSO deposited films indicate that the surface roughness
decreases with increasing r.f. power. Studying the above parameters
indicate that the films produced are suitable for specific practical
applications.
Abstract: The human knee joint has a three dimensional
geometry with multiple body articulations that produce complex
mechanical responses under loads that occur in everyday life and
sports activities. To produce the necessary joint compliance and
stability for optimal daily function various menisci and ligaments are
present while muscle forces are used to this effect. Therefore,
knowledge of the complex mechanical interactions of these load
bearing structures is necessary when treatment of relevant diseases is
evaluated and assisting devices are designed.
Numerical tools such as finite element analysis are suitable for
modeling such joints in order to understand their physics. They have
been used in the current study to develop an accurate human knee
joint and model its mechanical behavior. To evaluate the efficacy of
this articulated model, static load cases were used for comparison
purposes with previous experimentally verified modeling works
drawn from literature.
Abstract: This paper proposes a solution to the motion planning
and control problem of a point-mass robot which is required to move
safely to a designated target in a priori known workspace cluttered
with fixed elliptical obstacles of arbitrary position and sizes. A
tailored and unique algorithm for target convergence and obstacle
avoidance is proposed that will work for any number of fixed
obstacles. The control laws proposed in this paper also ensures that
the equilibrium point of the given system is asymptotically stable.
Computer simulations with the proposed technique and applications
to a planar (RP) manipulator will be presented.
Abstract: In this paper, the trajectory tracking problem for carlike mobile robots have been studied. The system comprises of a leader and a follower robot. The purpose is to control the follower so that the leader-s trajectory is tracked with arbitrary desired clearance to avoid inter-robot collision while navigating in a terrain with obstacles. A set of artificial potential field functions is proposed using the Direct Method of Lyapunov for the avoidance of obstacles and attraction to their designated targets. Simulation results prove the efficiency of our control technique.
Abstract: The interactions between input/output variables are a very common phenomenon encountered in the design of multi-loop controllers for interacting multivariable processes, which can be a serious obstacle for achieving a good overall performance of multiloop control system. To overcome this impediment, the decomposed dynamic interaction analysis is proposed by decomposing the multiloop control system into a set of n independent SISO systems with the corresponding effective open-loop transfer function (EOTF) within the dynamic interactions embedded explicitly. For each EOTF, the reduced model is independently formulated by using the proposed reduction design strategy, and then the paired multi-loop proportional-integral-derivative (PID) controller is derived quite simply and straightforwardly by using internal model control (IMC) theory. This design method can easily be implemented for various industrial processes because of its effectiveness. Several case studies are considered to demonstrate the superior of the proposed method.
Abstract: This paper deals with condition monitoring of electric switch machine for railway points. Point machine, as a complex electro-mechanical device, switch the track between two alternative routes. There has been an increasing interest in railway safety and the optimal management of railway equipments maintenance, e.g. point machine, in order to enhance railway service quality and reduce system failure. This paper explores the development of Kolmogorov- Smirnov (K-S) test to detect some point failures (external to the machine, slide chairs, fixing, stretchers, etc), while the point machine (inside the machine) is in its proper condition. Time-domain stator Current signatures of normal (healthy) and faulty points are taken by 3 Hall Effect sensors and are analyzed by K-S test. The test is simulated by creating three types of such failures, namely putting a hard stone and a soft stone between stock rail and switch blades as obstacles and also slide chairs- friction. The test has been applied for those three faults which the results show that K-S test can effectively be developed for the aim of other point failures detection, which their current signatures deviate parametrically from the healthy current signature. K-S test as an analysis technique, assuming that any defect has a specific probability distribution. Empirical cumulative distribution functions (ECDF) are used to differentiate these probability distributions. This test works based on the null hypothesis that ECDF of target distribution is statistically similar to ECDF of reference distribution. Therefore by comparing a given current signature (as target signal) from unknown switch state to a number of template signatures (as reference signal) from known switch states, it is possible to identify which is the most likely state of the point machine under analysis.
Abstract: Trends in business intelligence, e-commerce and
remote access make it necessary and practical to store data in
different ways on multiple systems with different operating systems.
As business evolve and grow, they require efficient computerized
solution to perform data update and to access data from diverse
enterprise business applications. The objective of this paper is to
demonstrate the capability of DTS [1] as a database solution for
automatic data transfer and update in solving business problem. This
DTS package is developed for the sales of variety of plants and
eventually expanded into commercial supply and landscaping
business. Dimension data modeling is used in DTS package to
extract, transform and load data from heterogeneous database
systems such as MySQL, Microsoft Access and Oracle that
consolidates into a Data Mart residing in SQL Server. Hence, the
data transfer from various databases is scheduled to run automatically
every quarter of the year to review the efficient sales analysis.
Therefore, DTS is absolutely an attractive solution for automatic data
transfer and update which meeting today-s business needs.