Abstract: A novel adaptive fuzzy trajectory tracking algorithm of Stewart platform based motion platform is proposed to compensate path deviation and degradation of controller-s performance due to actuator torque limit. The algorithm can be divided into two parts: the real-time trajectory shaping part and the joint space adaptive fuzzy controller part. For a reference trajectory in task space whenever any of the actuators is saturated, the desired acceleration of the reference trajectory is modified on-line by using dynamic model of motion platform. Meanwhile an additional action with respect to the difference between the nominal and modified trajectories is utilized in the non-saturated region of actuators to reduce the path error. Using modified trajectory as input, the joint space controller incorporates compute torque controller, leg velocity observer and fuzzy disturbance observer with saturation compensation. It can ensure stability and tracking performance of controller in present of external disturbance and position only measurement. Simulation results verify the effectiveness of proposed control scheme.
Abstract: Environmental responsibility includes improvement of environmental performance in order to reduce environmental impact. This paper gives a short review of some important environmental objectives, targets and actions that modern shipping company should follow.
Abstract: This paper presents a novel method for prediction of
the mechanical behavior of proximal femur using the general
framework of the quantitative computed tomography (QCT)-based
finite element Analysis (FEA). A systematic imaging and modeling
procedure was developed for reliable correspondence between the
QCT-based FEA and the in-vitro mechanical testing. A speciallydesigned
holding frame was used to define and maintain a unique
geometrical reference system during the analysis and testing. The
QCT images were directly converted into voxel-based 3D finite
element models for linear and nonlinear analyses. The equivalent
plastic strain and the strain energy density measures were used to
identify the critical elements and predict the failure patterns. The
samples were destructively tested using a specially-designed gripping
fixture (with five degrees of freedom) mounted within a universal
mechanical testing machine. Very good agreements were found
between the experimental and the predicted failure patterns and the
associated load levels.
Abstract: Unlike the best effort service provided by the internet
today, next-generation wireless networks will support real-time
applications. This paper proposes an adaptive early packet discard
(AEPD) policy to improve the performance of the real time TCP
traffic over ATM networks and avoid the fragmentation problem.
Three main aspects are incorporated in the proposed policy. First,
providing quality-of-service (QoS) guaranteed for real-time
applications by implementing a priority scheduling. Second,
resolving the partially corrupted packets problem by differentiating
the buffered cells of one packet from another. Third, adapting a
threshold dynamically using Fuzzy logic based on the traffic
behavior to maintain a high throughput under a variety of load
conditions. The simulation is run for two priority classes of the input
traffic: real time and non-real time classes. Simulation results show
that the proposed AEPD policy improves throughput and fairness
over that using static threshold under the same traffic conditions.
Abstract: With the global financial crisis turning into what more
and more appears to be a prolonged “Great Recession", we are
witnessing marked reductions in remittance transfers to developing
countries with the likely possibility that overall flows will decline
even further in the near future. With countless families reliant on
remittance inflows as a source of income maintaining their economic
livelihood, a reduction would put many at risk of falling below or
deeper into poverty. Recognizing the importance of remittance
inflows as a lifeline to the poor, policy should aim to (1) reduce the
barriers to remit in both sending and receiving nations thus easing the
decline in transfers; (2) leverage the development impacts of
remittances; and (3) buffer vulnerable groups dependent on
remittance transfers as a source of livelihood through sound countercyclical
macroeconomic policies.
Abstract: Based on the field investigation and long term remote
sensing data, the dynamics of the alpine wetland in the river basin and
their response to climate change were studied. Results showed the
alpine wetlands accounted for 3.73% of total basin in 2010. Lake and
river appeared an increasing trend in the past 30 years, with an
increase of 34.36 % and 24.57%. However, swamp exhibited a
tendency of decreasing with 233.74 km2. Annual average temperature,
maximum temperature, minimum temperature and precipitation in the
river basin all exhibited an increasing trend, whereas relative humidity
exhibited a decreasing trend. Ice and snow melting are main reasons of
lake and river area enhancement and swamp area descend. There
existed 91.78%-97.86% of reduced swamp converted into lakes on the
basis of remote sensing image interpretation. China-s government
policy of implementing development in the river basin is the major
driving force of artificial wetland growth.
Abstract: Development of levels of service in municipal context
is a flexible vehicle to assist in performing quality-cost trade-off
analysis for municipal services. This trade-off depends on the
willingness of a community to pay as well as on the condition of the
assets. Community perspective of the performance of an asset from
service point of view may be quite different from the municipality
perspective of the performance of the same asset from condition
point of view. This paper presents a three phased level of service
based methodology for water mains that consists of :1)development
of an Analytical Hierarchy model of level of service 2) development
of Fuzzy Weighted Sum model of water main condition index and 3)
deriving a Fuzzy logic based function that maps level of service to
asset condition index. This mapping will assist asset managers in
quantifying condition improvement requirement to meet service
goals and to make more informed decisions on interventions and
relayed priorities.
Abstract: The paper investigates parallel channel instabilities of
natural circulation boiling water reactor. A thermal-hydraulic model
is developed to simulate two-phase flow behavior in the natural circulation boiling water reactor (NCBWR) with the incorporation of
ex-core components and recirculation loop such as steam separator, down-comer, lower-horizontal section and upper-horizontal section
and then, numerical analysis is carried out for parallel channel
instabilities of the reactor undergoing both in-phase and out-of-phase
modes of oscillations. To analyze the relative effect on stability of the reactor due to inclusion of various ex-core components and
recirculation loop, marginal stable point is obtained at a particular inlet enthalpy of the reactor core without the inclusion of ex-core
components and recirculation loop and then with the inclusion of the
same. Numerical simulations are also conducted to determine the
relative dominance between two modes of oscillations i.e. in-phase and out-of-phase. Simulations are also carried out when the channels
are subjected to asymmetric power distribution keeping the inlet enthalpy same.
Abstract: Horizontal wells are proven to be better producers
because they can be extended for a long distance in the pay zone.
Engineers have the technical means to forecast the well productivity
for a given horizontal length. However, experiences have shown that
the actual production rate is often significantly less than that of
forecasted. It is a difficult task, if not impossible to identify the real
reason why a horizontal well is not producing what was forecasted.
Often the source of problem lies in the drilling of horizontal section
such as permeability reduction in the pay zone due to mud invasion
or snaky well patterns created during drilling. Although drillers aim
to drill a constant inclination hole in the pay zone, the more frequent
outcome is a sinusoidal wellbore trajectory. The two factors, which
play an important role in wellbore tortuosity, are the inclination and
side force at bit. A constant inclination horizontal well can only be
drilled if the bit face is maintained perpendicular to longitudinal axis
of bottom hole assembly (BHA) while keeping the side force nil at
the bit. This approach assumes that there exists no formation force at
bit. Hence, an appropriate BHA can be designed if bit side force and
bit tilt are determined accurately. The Artificial Neural Network
(ANN) is superior to existing analytical techniques. In this study, the
neural networks have been employed as a general approximation tool
for estimation of the bit side forces. A number of samples are
analyzed with ANN for parameters of bit side force and the results
are compared with exact analysis. Back Propagation Neural network
(BPN) is used to approximation of bit side forces. Resultant low
relative error value of the test indicates the usability of the BPN in
this area.
Abstract: Building inspection is one of the key components of building maintenance. The primary purpose of performing a building inspection is to evaluate the building-s condition. Without inspection, it is difficult to determine a built asset-s current condition, so failure to inspect can contribute to the asset-s future failure. Traditionally, a longhand survey description has been widely used for property condition reports. Surveys that employ ratings instead of descriptions are gaining wide acceptance in the industry because they cater to the need for numerical analysis output. These kinds of surveys are also in keeping with the new RICS HomeBuyer Report 2009. In this paper, we propose a new assessment method, derived from the current rating systems, for assessing the specifically smart school building-s condition and rating the seriousness of each defect identified. These two assessment criteria are then multiplied to find the building-s score, which we called the Condition Survey Protocol (CSP) 1 Matrix. Instead of a longhand description of a building-s defects, this matrix requires concise explanations about the defects identified, thus saving on-site time during a smart school building inspection. The full score is used to give the building an overall rating: Good, Fair or Dilapidated.
Abstract: The stability characteristics of water lubricated journal bearings having three axial grooves are obtained theoretically. In this lubricant (water) is fed under pressure from one end of the bearing, through the 3-axial grooves (groove angles may vary). These bearings can use the process fluid as the lubricant, as in the case of feed water pumps. The Reynolds equation is solved numerically by the finite difference method satisfying the boundary conditions. The stiffness and damping coefficient for various bearing number and eccentricity ratios, assuming linear pressure drop along the groove, shows that smaller groove angles better results.
Abstract: Two group of kids (“Safflower cake" and “Control") were fed ad libitum with pelleted total mixed rations. After a 7-days adaptation period, the diet of the “Safflower cake" group were supplemented with 20% of safflower cake. The kids were slaughtered at 96 days of age. Dietary safflower cake did not affect the growth traits of kids. In addition, kids fed experimental diet showed a lower feed intake and consequently a better feed conversion ratio in comparison to the “Control" group. The use of safflower decreased the level of SFA and increased the level of MUFA in kid meat. The level of PUFA was higher in lipid extracted from animals feeding “Control“ diet even if the UFA level was lower. Furthermore, lipid extracted from animals feeding control diet contained more ω6 fatty acids in comparison to kids feeding experimental diet while the opposite trend was observed for the level of ω3 fatty acids. The ω6 to ω3 ratio was significantly affected by diet and in particular this ratio decreased in meat of kids fed experimental diet. Our results indicate that intramuscular fatty acid composition of kid meat can be improved from a human health perspective by inclusion of safflower cake in the diet.
Abstract: Addis Ababa is a seat of African Union (AU), United
Nations Economic Commission for Africa (UN-ECA) and hundreds of
embassies and consular representatives. Addis Ababa is one of the
highest capitals in the world with an average 2400 meters above sea
level. It is dichotomous city with a blend of modern high-rise and
deteriorating slum quarters. Water supply and sanitation, waste
management and housing are continuing to be serious problems.
Forest wood based domestic energy use as well as uncontrolled
emissions from mobile and fixed sources has endangered the state of
the urban environment. Analysis based on satellite imagery has
revealed the deteriorating urban environment within the last three
decades. The recently restructured city administration has brought
improvements in the condition of the urban environment. However,
the overwhelming size of the challenges faced by the city dwarfed
their fairly good results.
Abstract: Transportation authorities need to provide the services
and facilities that are critical to every country-s well-being and
development. Management of the road network is becoming
increasingly challenging as demands increase and resources are
limited. Public sector institutions are integrating performance
information into budgeting, managing and reporting via
implementing performance measurement systems. In the face of
growing challenges, performance measurement of road networks is
attracting growing interest in many countries. The large scale of
public investments makes the maintenance and development of road
networks an area where such systems are an important assessment
tool. Transportation agencies have been using performance
measurement and modeling as part of pavement and bridge
management systems. Recently the focus has been on extending the
process to applications in road construction and maintenance
systems, operations and safety programs, and administrative
structures and procedures. To eliminate failure and dysfunctional
consequences the importance of obtaining objective data and
implementing evaluation instrument where necessary is presented in
this paper
Abstract: Carriers scattering in the inversion channel of n-
MOSFET dominates the drain current. This paper presents an effective
electron mobility model for the pocket implanted nano scale
n-MOSFET. The model is developed by using two linear pocket
profiles at the source and drain edges. The channel is divided into
three regions at source, drain and central part of the channel region.
The total number of inversion layer charges is found for these three
regions by numerical integration from source to drain ends and the
number of depletion layer charges is found by using the effective
doping concentration including pocket doping effects. These two
charges are then used to find the effective normal electric field,
which is used to find the effective mobility model incorporating the
three scattering mechanisms, such as, Coulomb, phonon and surface
roughness scatterings as well as the ballistic phenomena for the
pocket implanted nano-scale n-MOSFET. The simulation results show
that the derived mobility model produces the same results as found
in the literatures.
Abstract: Although, it is a long time that human know about
the importance of environment in life, but at the last decade of 20
century, the space that was full of hot scientific, collegial and
political were made in environmental challenge, So much that, this
problem not only disarrange the peace and security of life, but also it
has threatened human existence. One of the problems in last years
that are significant for authorities is unsatisfactory achieved results
against of using huge cost for magnificent environmental projects.
This subject leads thinker to this thought that for solving the
environmental problems it is needed new methods include of
sociology, ethics and philosophic, etc. methods apart of technical
affairs. Environment ethics is a new branch of philosophic ethics
discussion that discusses about the ethics relationship between
humans and universe that is around them. By notifying to the above
considered affairs, in today world, necessity of environmental ethics
for environment management is reduplicated. In the following the
article has been focused on environmental ethics role and
environmental management methods and techniques for developing
it.
Abstract: Process improvements have drawn much attention in
practical software engineering. The capability maturity levels from
CMMI have become an important index to assess a software company-s
software engineering capability. However, in countries like
Taiwan, customers often have no choices but to deal with vendors that
are not CMMI prepared or qualified. We call these vendors maturitylevel-
1 (ML1) vendors. In this paper, we describe our experience
from consulting an e-school project. We propose an approach to help
our client tackle the ML1 vendors. Through our system analysis, we
produce a design. This design is suggested to be used as part of
contract and a blueprint to guide the implementation.
Abstract: Alpinia galanga is rhizome, generally known as
Greater galangal and is selected for isolation of newer constituents
accountable for various therapeutic activities. Present study is
intended to isolate glycoside from Alpinia galanga rhizomes. Alpinia
galanga methanolic extract was column chromatograph and eluted
with ethyl acetate-methanol (99:1) to isolate compound β-Sitosterol
Diarabinoside. Herein, the isolation and structural elucidation of new
compound is described. Chemical investigation of methanolic extract
of rhizomes of Alpinia galanga furnished a new compound β-
Sitosterol Diarabinoside. The IR, NMR and MASS investigations of
isolated compound confirmed its structure as β-Sitosterol
Diarabinoside, which is isolated for the first time from a medicinal
plant or any synthetic source.
Abstract: Locality Sensitive Hashing (LSH) is one of the most
promising techniques for solving nearest neighbour search problem in
high dimensional space. Euclidean LSH is the most popular variation
of LSH that has been successfully applied in many multimedia
applications. However, the Euclidean LSH presents limitations that
affect structure and query performances. The main limitation of the
Euclidean LSH is the large memory consumption. In order to achieve
a good accuracy, a large number of hash tables is required. In this
paper, we propose a new hashing algorithm to overcome the storage
space problem and improve query time, while keeping a good
accuracy as similar to that achieved by the original Euclidean LSH.
The Experimental results on a real large-scale dataset show that the
proposed approach achieves good performances and consumes less
memory than the Euclidean LSH.
Abstract: Robotic system is an important area in artificial intelligence that aims at developing the performance techniques of the robot and making it more efficient and more effective in choosing its correct behavior. In this paper the distributed learning classifier system is used for designing a simulated control system for robot to perform complex behaviors. A set of enhanced approaches that support default hierarchies formation is suggested and compared with each other in order to make the simulated robot more effective in mapping the input to the correct output behavior.