Abstract: The research on two-wheels balancing robot has
gained momentum due to their functionality and reliability when
completing certain tasks. This paper presents investigations into the
performance comparison of Linear Quadratic Regulator (LQR) and
PID-PID controllers for a highly nonlinear 2–wheels balancing robot.
The mathematical model of 2-wheels balancing robot that is highly
nonlinear is derived. The final model is then represented in statespace
form and the system suffers from mismatched condition. Two
system responses namely the robot position and robot angular
position are obtained. The performances of the LQR and PID-PID
controllers are examined in terms of input tracking and disturbances
rejection capability. Simulation results of the responses of the
nonlinear 2–wheels balancing robot are presented in time domain. A
comparative assessment of both control schemes to the system
performance is presented and discussed.
Abstract: Malay Folk Literature in early childhood education
served as an important agent in child development that involved
emotional, thinking and language aspects. Up to this moment not
much research has been carried out in Malaysia particularly in the
teaching and learning aspects nor has there been an effort to publish
“big books." Hence this article will discuss the stance taken by
university undergraduate students, teachers and parents in evaluating
Malay Folk Literature in early childhood education to be used as big
books. The data collated and analyzed were taken from 646
respondents comprising 347 undergraduates and 299 teachers. Results
of the study indicated that Malay Folk Literature can be absorbed into
teaching and learning for early childhood with a mean of 4.25 while it
can be in big books with a mean of 4.14. Meanwhile the highest mean
value required for placing Malay Folk Literature genre as big books in
early childhood education rests on exemplary stories for
undergraduates with mean of 4.47; animal fables for teachers with a
mean of 4.38. The lowest mean value of 3.57 is given to lipurlara
stories. The most popular Malay Folk Literature found suitable for
early children is Sang Kancil and the Crocodile, followed by Bawang
Putih Bawang Merah. Pak Padir, Legends of Mahsuri, Origin of
Malacca, and Origin of Rainbow are among the popular stories as
well. Overall the undergraduates show a positive attitude toward all
the items compared to teachers. The t-test analysis has revealed a non
significant relationship between the undergraduate students and
teachers with all the items for the teaching and learning of Malay Folk
Literature.
Abstract: In this paper we present an efficient approach for the prediction of two sunspot-related time series, namely the Yearly Sunspot Number and the IR5 Index, that are commonly used for monitoring solar activity. The method is based on exploiting partially recurrent Elman networks and it can be divided into three main steps: the first one consists in a “de-rectification" of the time series under study in order to obtain a new time series whose appearance, similar to a sum of sinusoids, can be modelled by our neural networks much better than the original dataset. After that, we normalize the derectified data so that they have zero mean and unity standard deviation and, finally, train an Elman network with only one input, a recurrent hidden layer and one output using a back-propagation algorithm with variable learning rate and momentum. The achieved results have shown the efficiency of this approach that, although very simple, can perform better than most of the existing solar activity forecasting methods.
Abstract: Sedimentation process resulting from soil erosion in
the water basin especially in arid and semi-arid where poor
vegetation cover in the slope of the mountains upstream could
contribute to sediment formation. The consequence of sedimentation
not only makes considerable change in the morphology of the river
and the hydraulic characteristics but would also have a major
challenge for the operation and maintenance of the canal network
which depend on water flow to meet the stakeholder-s requirements.
For this reason mathematical modeling can be used to simulate the
effective factors on scouring, sediment transport and their settling
along the waterways. This is particularly important behind the
reservoirs which enable the operators to estimate the useful life of
these hydraulic structures. The aim of this paper is to simulate the
sedimentation and erosion in the eastern and western water intake
structures of the Dez Diversion weir using GSTARS-3 software. This
is done to estimate the sedimentation and investigate the ways in
which to optimize the process and minimize the operational
problems. Results indicated that the at the furthest point upstream of
the diversion weir, the coarser sediment grains tended to settle. The
reason for this is the construction of the phantom bridge and the
outstanding rocks just upstream of the structure. The construction of
these along the river course has reduced the momentum energy
require to push the sediment loads and make it possible for them to
settle wherever the river regime allows it. Results further indicated a
trend for the sediment size in such a way that as the focus of study
shifts downstream the size of grains get smaller and vice versa. It
was also found that the finding of the GSTARS-3 had a close
proximity with the sets of the observed data. This suggests that the
software is a powerful analytical tool which can be applied in the
river engineering project with a minimum of costs and relatively
accurate results.
Abstract: Recently in the field of bridges that are newly built or
repaired, fast construction is required more than ever. For these
reasons, precast prefabricated bridge that enables rapid construction is
actively discussed and studied today. In South Korea, it is called
modular bridge. Cross beam is an integral component of modular
bridge. It functions for load distribution, reduction of bending
moment, resistance of horizontal strength on lateral upper structure. In
this study, the structural characteristics of domestic and foreign cross
beam types were compared. Based on this, alternative cross beam
connection types suitable for modular bridge were selected. And
bulb-T girder specimens were fabricated with each type of connection.
The behavior of each specimen was analyzed under static loading, and
cross beam connection type which is expected to be best suited to
modular bridge proposed.
Abstract: The main problem for recognition of handwritten Persian digits using Neural Network is to extract an appropriate feature vector from image matrix. In this research an asymmetrical segmentation pattern is proposed to obtain the feature vector. This pattern can be adjusted as an optimum model thanks to its one degree of freedom as a control point. Since any chosen algorithm depends on digit identity, a Neural Network is used to prevail over this dependence. Inputs of this Network are the moment of inertia and the center of gravity which do not depend on digit identity. Recognizing the digit is carried out using another Neural Network. Simulation results indicate the high recognition rate of 97.6% for new introduced pattern in comparison to the previous models for recognition of digits.
Abstract: The paper aims at investigating influence of medium
capacity on linear adsorbed solute dispersion into chemically
heterogeneous fixed beds. A discrete chemical heterogeneity
distribution is considered in the one-dimensional advectivedispersive
equation. The partial differential equation is solved using
finite volumes method based on the Adam-Bashforth algorithm.
Increased dispersion is estimated by comparing breakthrough curves
second order moments and keeping identical hydrodynamic
properties. As a result, dispersion increase due to chemical
heterogeneity depends on the column size and surprisingly on the
solid capacity. The more intense capacity is, the more important
solute dispersion is. Medium length which is known to favour this
effect vanishing according to the linear adsorption in fixed bed seems
to create nonmonotonous variation of dispersion because of the
heterogeneity. This nonmonotonous behaviour is also favoured by
high capacities.
Abstract: This paper aims at numerically analysing the effect
of an active flow control (AFC) by a vortex generator jet (VGJ)
submerged in a boundary layer via Chimera Grids and Detached-
Eddy Simulation (DES). The performance of DES results are
judged against Reynolds-Averaged Navier-Stokes (RANS) and
compared with the experiments that showed an unsteady vortex
motion downstream of VGJ. Experimental results showed that
the mechanism of embedding logitudinal vortex structure in the
main stream flow is quite effective in increasing the near wall
momentum of separated aircraft wing. In order to simulate such
a flow configuration together with the VGJ, an efficient numerical
approach is required. This requirement is fulfilled by performing
the DES simulation over the flat plate using the DLR TAU Code.
The DES predictions identify the vortex region via smooth hybrid
length scale and predict the unsteady vortex motion observed in
the experiments. The DES results also showed that the sufficient
grid refinement in the vortex region resolves the turbulent scales
downstream of the VGJ, the spatial vortex core postion and nondimensional
momentum coefficient RVx .
Abstract: This paper is devoted to predict laminar and turbulent
heating rates around blunt re-entry spacecraft at hypersonic
conditions. Heating calculation of a hypersonic body is normally
performed during the critical part of its flight trajectory. The
procedure is of an inverse method, where a shock wave is assumed,
and the body shape that supports this shock, as well as the flowfield
between the shock and body, are calculated. For simplicity the
normal momentum equation is replaced with a second order pressure
relation; this simplification significantly reduces computation time.
The geometries specified in this research, are parabola and ellipsoids
which may have conical after bodies. An excellent agreement is
observed between the results obtained in this paper and those
calculated by others- research. Since this method is much faster than
Navier-Stokes solutions, it can be used in preliminary design,
parametric study of hypersonic vehicles.
Abstract: Using electrical machine in conventional vehicles, also called hybrid vehicles, has become a promising control scheme that enables some manners for fuel economy and driver assist for better stability. In this paper, vehicle stability control, fuel economy and Driving/Regeneration braking for a 4WD hybrid vehicle is investigated by using an electrical machine on each non-driven wheels. In front wheels driven vehicles, fuel economy and regenerative braking can be obtained by summing torques applied on rear wheels. On the other hand, unequal torques applied to rear wheels provides enhanced safety and path correction in steering. In this paper, a model with fourteen degrees of freedom is considered for vehicle body, tires and, suspension systems. Thereafter, powertrain subsystems are modeled. Considering an electrical machine on each rear wheel, a fuzzy controller is designed for each driving, braking, and stability conditions. Another fuzzy controller recognizes the vehicle requirements between the driving/regeneration and stability modes. Intelligent vehicle control to multi objective operation and forward simulation are the paper advantages. For reaching to these aims, power management control and yaw moment control will be done by three fuzzy controllers. Also, the above mentioned goals are weighted by another fuzzy sub-controller base on vehicle dynamic. Finally, Simulations performed in MATLAB/SIMULINK environment show that the proposed structure can enhance the vehicle performance in different modes effectively.
Abstract: Unmanned aerial vehicles (UAVs) performing their
operations for a long time have been attracting much attention in
military and civil aviation industries for the past decade. The
applicable field of UAV is changing from the military purpose only to
the civil one. Because of their low operation cost, high reliability and
the necessity of various application areas, numerous development
programs have been initiated around the world. To obtain the optimal
solutions of the design variable (i.e., sectional airfoil profile, wing
taper ratio and sweep) for high performance of UAVs, both the lift and
lift-to-drag ratio are maximized whereas the pitching moment should
be minimized, simultaneously. It is found that the lift force and
lift-to-drag ratio are linearly dependent and a unique and dominant
solution are existed. However, a trade-off phenomenon is observed
between the lift-to-drag ratio and pitching moment. As the result of
optimization, sixty-five (65) non-dominated Pareto individuals at the
cutting edge of design spaces that are decided by airfoil shapes can be
obtained.
Abstract: This paper presents a new study on the applications of
optimization and regression analysis techniques for optimal
calculation of partial ratios of four-step helical gearboxes for getting
minimal gearbox length. In the paper, basing on the moment
equilibrium condition of a mechanic system including four gear units
and their regular resistance condition, models for determination of the
partial ratios of the gearboxes are proposed. In particular, explicit
models for calculation of the partial ratios are proposed by using
regression analysis. Using these models, the determination of the
partial ratios is accurate and simple.
Abstract: The paper presents a numerical investigation on the
rapid gas decompression in pure nitrogen which is made by using the
one-dimensional (1D) and three-dimensional (3D) mathematical
models of transient compressible non-isothermal fluid flow in pipes.
A 1D transient mathematical model of compressible thermal multicomponent
fluid mixture flow in pipes is presented. The set of the
mass, momentum and enthalpy conservation equations for gas phase
is solved in the model. Thermo-physical properties of multicomponent
gas mixture are calculated by solving the Equation of
State (EOS) model. The Soave-Redlich-Kwong (SRK-EOS) model is
chosen. This model is successfully validated on the experimental data
[1] and shows a good agreement with measurements. A 3D transient
mathematical model of compressible thermal single-component gas
flow in pipes, which is built by using the CFD Fluent code (ANSYS),
is presented in the paper. The set of unsteady Reynolds-averaged
conservation equations for gas phase is solved. Thermo-physical
properties of single-component gas are calculated by solving the Real
Gas Equation of State (EOS) model. The simplest case of gas
decompression in pure nitrogen is simulated using both 1D and 3D
models. The ability of both models to simulate the process of rapid
decompression with a high order of agreement with each other is
tested. Both, 1D and 3D numerical results show a good agreement
between each other. The numerical investigation shows that 3D CFD
model is very helpful in order to validate 1D simulation results if the
experimental data is absent or limited.
Abstract: Although the field of parametric Pattern Recognition (PR) has been thoroughly studied for over five decades, the use of the Order Statistics (OS) of the distributions to achieve this has not been reported. The pioneering work on using OS for classification was presented in [1] for the Uniform distribution, where it was shown that optimal PR can be achieved in a counter-intuitive manner, diametrically opposed to the Bayesian paradigm, i.e., by comparing the testing sample to a few samples distant from the mean. This must be contrasted with the Bayesian paradigm in which, if we are allowed to compare the testing sample with only a single point in the feature space from each class, the optimal strategy would be to achieve this based on the (Mahalanobis) distance from the corresponding central points, for example, the means. In [2], we showed that the results could be extended for a few symmetric distributions within the exponential family. In this paper, we attempt to extend these results significantly by considering asymmetric distributions within the exponential family, for some of which even the closed form expressions of the cumulative distribution functions are not available. These distributions include the Rayleigh, Gamma and certain Beta distributions. As in [1] and [2], the new scheme, referred to as Classification by Moments of Order Statistics (CMOS), attains an accuracy very close to the optimal Bayes’ bound, as has been shown both theoretically and by rigorous experimental testing.
Abstract: Quality of school meals is one of the major concerns of governments and international organizations worldwide. This study aims to evaluate nutritional compliance of meals served at a Portuguese primary school considering the portions stated by Portuguese Education Ministry. To evaluate adequacy of portions served, weighing of all meal components offered to students and leftovers was performed during ten consecutive days at two different moments. Plate waste (%) was calculated by the ratio of food discarded and food served to the children. Nutritional evaluation of menus was made using the Portuguese Food Composition Table. Meals evaluated showed a percent contribution to energetic daily intake higher than recommendations. Meals served to children were considered high energy and protein dense. No significant waste of soup was accounted and the main meal components wasted were fish and vegetables. It will be necessary to adjust portions indicated by Ministry of Education in order to comply with recommendations and reduce food waste.
Abstract: The back-propagation algorithm calculates the weight
changes of an artificial neural network, and a two-term algorithm
with a dynamically optimal learning rate and a momentum factor
is commonly used. Recently the addition of an extra term, called a
proportional factor (PF), to the two-term BP algorithm was proposed.
The third term increases the speed of the BP algorithm. However,
the PF term also reduces the convergence of the BP algorithm, and
optimization approaches for evaluating the learning parameters are
required to facilitate the application of the three terms BP algorithm.
This paper considers the optimization of the new back-propagation
algorithm by using derivative information. A family of approaches
exploiting the derivatives with respect to the learning rate, momentum
factor and proportional factor is presented. These autonomously
compute the derivatives in the weight space, by using information
gathered from the forward and backward procedures. The three-term
BP algorithm and the optimization approaches are evaluated using
the benchmark XOR problem.
Abstract: Numerical parametric study is conducted to study the effects of ampoule rotation on the flows and the dopant segregation in vertical bridgman (vb) crystal growth. Calculations were performed in unsteady state. The extended darcy model, which includes the time derivative and coriolis terms, has been employed in the momentum equation. It’s found that the convection, and dopant segregation can be affected significantly by ampoule rotation, and the effect is similar to that by an axial magnetic field. Ampoule rotation decreases the intensity of convection and stretches the flow cell axially. When the convection is weak, the flow can be suppressed almost completely by moderate ampoule rotation and the dopant segregation becomes diffusion-controlled. For stronger convection, the elongated flow cell by ampoule rotation may bring dopant mixing into the bulk melt reducing axial segregation at the early stage of the growth. However, if the cellular flow cannot be suppressed completely, ampoule rotation may induce larger radial segregation due to poor mixing.
Abstract: We investigate properties of convective solutions of the
Boussinesq thermal convection in a moderately rotating spherical
shell allowing the inner and outer sphere rotation due to the viscous
torque of the fluid. The ratio of the inner and outer radii of the
spheres, the Prandtl number and the Taylor number are fixed to 0.4,
1 and 5002, respectively. The inertial moments of the inner and outer
spheres are fixed to about 0.22 and 100, respectively. The Rayleigh
number is varied from 2.6 × 104 to 3.4 × 104. In this parameter
range, convective solutions transit from equatorially symmetric quasiperiodic
ones to equatorially asymmetric chaotic ones as the Rayleigh
number is increased. The transition route in the system allowing
rotation of both the spheres is different from that in the co-rotating
system, which means the inner and outer spheres rotate with the
same constant angular velocity: the convective solutions transit as
equatorially symmetric quasi-periodic solution → equatorially symmetric
chaotic solution → equatorially asymmetric chaotic solution
in the system allowing both the spheres rotation, while equatorially
symmetric quasi-periodic solution → equatorially asymmetric quasiperiodic
solution → equatorially asymmetric chaotic solution in the
co-rotating system.
Abstract: Wireless LAN technologies have picked up
momentum in the recent years due to their ease of deployment, cost
and availability. The era of wireless LAN has also given rise to
unique applications like VOIP, IPTV and unified messaging.
However, these real-time applications are very sensitive to network
and handoff latencies. To successfully support these applications,
seamless roaming during the movement of mobile station has become
crucial. Nowadays, centralized architecture models support roaming
in WLANs. They have the ability to manage, control and
troubleshoot large scale WLAN deployments. This model is managed
by Control and Provision of Wireless Access Point protocol
(CAPWAP). This paper covers the CAPWAP architectural solution
along with its proposals that have emerged. Based on the literature
survey conducted in this paper, we found that the proposed
algorithms to reduce roaming latency in CAPWAP architecture do
not support seamless roaming. Additionally, they are not sufficient
during the initial period of the network. This paper also suggests
important design consideration for mobility support in future
centralized IEEE 802.11 networks.
Abstract: This article presents a computationally tractable probabilistic model for the relation between the complex wavelet coefficients of two images of the same scene. The two images are acquisitioned at distinct moments of times, or from distinct viewpoints, or by distinct sensors. By means of the introduced probabilistic model, we argue that the similarity between the two images is controlled not by the values of the wavelet coefficients, which can be altered by many factors, but by the nature of the wavelet coefficients, that we model with the help of hidden state variables. We integrate this probabilistic framework in the construction of a new image registration algorithm. This algorithm has sub-pixel accuracy and is robust to noise and to other variations like local illumination changes. We present the performance of our algorithm on various image types.