Abstract: This paper describes the design concepts and
implementation of a 5-Joint mechanical arm for a rescue robot named
CEO Mission II. The multi-joint arm is a five degree of freedom
mechanical arm with a four bar linkage, which can be stretched to
125 cm. long. It is controlled by a teleoperator via the user-friendly
control and monitoring GUI program. With Inverse Kinematics
principle, we developed the method to control the servo angles of all
arm joints to get the desired tip position. By clicking the determined
tip position or dragging the tip of the mechanical arm on the
computer screen to the desired target point, the robot will compute
and move its multi-joint arm to the pose as seen on the GUI screen.
The angles of each joint are calculated and sent to all joint servos
simultaneously in order to move the mechanical arm to the desired
pose at once. The operator can also use a joystick to control the
movement of this mechanical arm and the locomotion of the robot.
Many sensors are installed at the tip of this mechanical arm for
surveillance from the high level and getting the vital signs of victims
easier and faster in the urban search and rescue tasks. It works very
effectively and easy to control. This mechanical arm and its software
were developed as a part of the CEO Mission II Rescue Robot that
won the First Runner Up award and the Best Technique award from
the Thailand Rescue Robot Championship 2006. It is a low cost,
simple, but functioning 5-Jiont mechanical arm which is built from
scratch, and controlled via wireless LAN 802.11b/g. This 5-Jiont
mechanical arm hardware concept and its software can also be used
as the basic mechatronics to many real applications.
Abstract: We discuss the signal detection through nonlinear
threshold systems. The detection performance is assessed by the
probability of error Per . We establish that: (1) when the signal is
complete suprathreshold, noise always degrades the signal detection
both in the single threshold system and in the parallel array of
threshold devices. (2) When the signal is a little subthreshold, noise
degrades signal detection in the single threshold system. But in the
parallel array, noise can improve signal detection, i.e., stochastic
resonance (SR) exists in the array. (3) When the signal is predominant
subthreshold, noise always can improve signal detection and SR
always exists not only in the single threshold system but also in the
parallel array. (4) Array can improve signal detection by raising the
number of threshold devices. These results extend further the
applicability of SR in signal detection.
Abstract: In this work we study the effect of several covariates X on a censored response variable T with unknown probability distribution. In this context, most of the studies in the literature can be located in two possible general classes of regression models: models that study the effect the covariates have on the hazard function; and models that study the effect the covariates have on the censored response variable. Proposals in this paper are in the second class of models and, more specifically, on least squares based model approach. Thus, using the bootstrap estimate of the bias, we try to improve the estimation of the regression parameters by reducing their bias, for small sample sizes. Simulation results presented in the paper show that, for reasonable sample sizes and censoring levels, the bias is always smaller for the new proposals.
Abstract: As a vital activity for companies, new product
development (NPD) is also a very risky process due to the high
uncertainty degree encountered at every development stage and the
inevitable dependence on how previous steps are successfully
accomplished. Hence, there is an apparent need to evaluate new
product initiatives systematically and make accurate decisions under
uncertainty. Another major concern is the time pressure to launch a
significant number of new products to preserve and increase the
competitive power of the company. In this work, we propose an
integrated decision-making framework based on neural networks and
fuzzy logic to make appropriate decisions and accelerate the
evaluation process. We are especially interested in the two initial
stages where new product ideas are selected (go/no go decision) and
the implementation order of the corresponding projects are
determined. We show that this two-staged intelligent approach allows
practitioners to roughly and quickly separate good and bad product
ideas by making use of previous experiences, and then, analyze a
more shortened list rigorously.
Abstract: We integrate TiN/Ni/HfO2/Si RRAM cell with a
vertical gate-all-around (GAA) nanowire transistor to achieve
compact 4F2 footprint in a 1T1R configuration. The tip of the Si
nanowire (source of the transistor) serves as bottom electrode of the
memory cell. Fabricated devices with nanowire diameter ~ 50nm
demonstrate ultra-low current/power switching; unipolar switching
with 10μA/30μW SET and 20μA/30μW RESET and bipolar switching
with 20nA/85nW SET and 0.2nA/0.7nW RESET. Further, the
switching current is found to scale with nanowire diameter making the
architecture promising for future scaling.
Abstract: Designing and implementing intelligent systems has become a crucial factor for the innovation and development of better products of space technologies. A neural network is a parallel system, capable of resolving paradigms that linear computing cannot. Field programmable gate array (FPGA) is a digital device that owns reprogrammable properties and robust flexibility. For the neural network based instrument prototype in real time application, conventional specific VLSI neural chip design suffers the limitation in time and cost. With low precision artificial neural network design, FPGAs have higher speed and smaller size for real time application than the VLSI and DSP chips. So, many researchers have made great efforts on the realization of neural network (NN) using FPGA technique. In this paper, an introduction of ANN and FPGA technique are briefly shown. Also, Hardware Description Language (VHDL) code has been proposed to implement ANNs as well as to present simulation results with floating point arithmetic. Synthesis results for ANN controller are developed using Precision RTL. Proposed VHDL implementation creates a flexible, fast method and high degree of parallelism for implementing ANN. The implementation of multi-layer NN using lookup table LUT reduces the resource utilization for implementation and time for execution.
Abstract: This paper proposes a method which reduces power consumption in single-error correcting, double error-detecting checker circuits that perform memory error correction code. Power is minimized with little or no impact on area and delay, using the degrees of freedom in selecting the parity check matrix of the error correcting codes. The genetic algorithm is employed to solve the non linear power optimization problem. The method is applied to two commonly used SEC-DED codes: standard Hamming and odd column weight Hsiao codes. Experiments were performed to show the performance of the proposed method.
Abstract: Nonlinear response behaviour of a cracked RC beam under harmonic excitation is analysed to investigate various instability phenomena like, bifurcation, jump phenomena etc. The nonlinearity of the system arises due to opening and closing of the cracks in the RC beam and is modelled as a cubic polynomial. In order to trace different branches at the bifurcation point on the response curve (amplitude versus frequency of excitation plot), an arc length continuation technique along with the incremental harmonic balance (IHBC) method is employed. The stability of the solution is investigated by the Floquet theory using Hsu-s scheme. The periodic solutions obtained by the IHBC method are compared with these obtained by the numerical integration of the equation of motion. Characteristics of solutions fold bifurcation, jump phenomena and from stable to unstable zones are identified.
Abstract: The present study was performed in Musa bay (northern part of the Persian Gulf) around the coastal area of Bandare-Imam Khomeini and Razi Petrochemical Companies. Sediment samples and effluent samples were collected from the selected stations, from June 2009 to June 2010. The samples were analyzed to determine the degree of hydrocarbon contamination. The average level of TPH concentration in the study area was more than the natural background value at all of the stations, especially at station BI1 which was the main effluent outlet of Bandar-e- Imam Khomeini petrochemical company. Also the concentration of total petroleum hydrocarbon was monitored in the effluents of aforementioned petrochemical companies and the results showed that the concentration of TPH in the effluents of Bandar-e- Imam Khomeini petrochemical company was greater than Razi petrochemical company which is may be related to the products of Bandar-e- Imam Khomeini petrochemical company (aromatics, polymers, chemicals, fuel).
Abstract: The optimal operation of proton exchange membrane fuel cell (PEMFC) requires good water management which is presented under two forms vapor and liquid. Moreover, fuel cells have to reach higher output require integration of some accessories which need electrical power. In order to analyze fuel cells operation and different species transport phenomena a biphasic mathematical model is presented by governing equations set. The numerical solution of these conservation equations is calculated by Matlab program. A multi-criteria optimization with weighting between two opposite objectives is used to determine the compromise solutions between maximum output and minimal stack size. The obtained results are in good agreement with available literature data.
Abstract: Scarcity of resources for biodiversity conservation gives rise to the need of strategic investment with priorities given to the cost of conservation. While the literature provides abundant methodological options for biodiversity conservation; estimating true cost of conservation remains abstract and simplistic, without recognising dynamic nature of the cost. Some recent works demonstrate the prominence of economic theory to inform biodiversity decisions, particularly on the costs and benefits of biodiversity however, the integration of the concept of true cost into biodiversity actions and planning are very slow to come by, and specially on a farm level. Conservation planning studies often use area as a proxy for costs neglecting different land values as well as protected areas. These literature consider only heterogeneous benefits while land costs are considered homogenous. Analysis with the assumption of cost homogeneity results in biased estimation; since not only it doesn’t address the true total cost of biodiversity actions and plans, but also it fails to screen out lands that are more (or less) expensive and/or difficult (or more suitable) for biodiversity conservation purposes, hindering validity and comparability of the results. Economies of scope” is one of the other most neglected aspects in conservation literature. The concept of economies of scope introduces the existence of cost complementarities within a multiple output production system and it suggests a lower cost during the concurrent production of multiple outputs by a given farm. If there are, indeed, economies of scope then simplistic representation of costs will tend to overestimate the true cost of conservation leading to suboptimal outcomes. The aim of this paper, therefore, is to provide first road review of the various theoretical ways in which economies of scope are likely to occur of how they might occur in conservation. Consequently, the paper addresses gaps that have to be filled in future analysis.
Abstract: In this study, structural, mechanical, thermal and
electrical properties of poly (lactic acid) (PLA) nanocomposites with
low-loaded (0-1.5 wt%) untreated, heat and nitric acid treated multiwalled
carbon nanotubes (MWCNTs) were studied. Among the
composites, untreated 0.5 wt % MWCNTs and acid-treated 1.0 wt%
MWCNTs reinforced PLA show the tensile strength and modulus
values higher than the others. These two samples along with pure
PLA exhibit the stable orthorhombic α-form, whilst other samples
reveal the less stable orthorhombic β-form, as demonstrated by X-ray
diffraction study. Differential scanning calorimetry reveals the
evolution of the mentioned different phases by controlled cooling and
discloses an enhancement of PLA crystallization by nanotubes
incorporation. Thermogravimetric analysis shows that the MWCNTs
loaded sample degraded faster than PLA. Surface resistivity of the
nanocomposites is found to be dropped drastically by a factor of 1013
with a low loading of MWCNTs (1.5 wt%).
Abstract: This study attempts to clarify major perspectives of Corporate Social Responsibility (CSR) in the Greek market related to companies that have sufficient CSR. An empirical analysis was undertaken, based on literature review and previous observations and surveys, in order to provide a general analysis of the CSR concept in Greece. The results of Accountability Rating institution were used in order to identify companies that adopt an integrated social responsibility approach. Companies that responded to the survey are both regional and international and belong to different industrial fields. Some of the main survey results reveal: multiple aspects for the CSR concept, weak consensus as regards the importance of stakeholders and benefits from the CSR implementation, the important role of CSR in the decision procedure and CSR practices concerning social issues that affect mostly company-s competitiveness. Sharing companies- experience could address common social issues through CSR best practices and develop new knowledge.
Abstract: Oil debris signal generated from the inductive oil
debris monitor (ODM) is useful information for machine condition
monitoring but is often spoiled by background noise. To improve the
reliability in machine condition monitoring, the high-fidelity signal
has to be recovered from the noisy raw data. Considering that the noise
components with large amplitude often have higher frequency than
that of the oil debris signal, the integral transform is proposed to
enhance the detectability of the oil debris signal. To cancel out the
baseline wander resulting from the integral transform, the empirical
mode decomposition (EMD) method is employed to identify the trend
components. An optimal reconstruction strategy including both
de-trending and de-noising is presented to detect the oil debris signal
with less distortion. The proposed approach is applied to detect the oil
debris signal in the raw data collected from an experimental setup. The
result demonstrates that this approach is able to detect the weak oil
debris signal with acceptable distortion from noisy raw data.
Abstract: The Principal component regression (PCR) is a
combination of principal component analysis (PCA) and multiple linear regression (MLR). The objective of this paper is to revise the
use of PCR in shortwave near infrared (SWNIR) (750-1000nm) spectral analysis. The idea of PCR was explained mathematically and
implemented in the non-destructive assessment of the soluble solid
content (SSC) of pineapple based on SWNIR spectral data. PCR achieved satisfactory results in this application with root mean
squared error of calibration (RMSEC) of 0.7611 Brix°, coefficient of determination (R2) of 0.5865 and root mean squared error of crossvalidation
(RMSECV) of 0.8323 Brix° with principal components
(PCs) of 14.
Abstract: An attempt has been made to beneficiate the Indian
coking coal fines by a combination of Spiral, flotation and Oleo
Flotation processes. Beneficiation studies were also carried out on -
0.5mm coal fines using flotation and oleo flotation by splitting at size
0.063mm.Size fraction of 0.5mm-0.063mm and -0.063mm size were
treated in flotation and Oleo flotation respectively. The washability
studies on the fraction 3-0.5 mm indicated that good separation may
be achieved when it is fed in a spiral. Combined product of Spiral,
Flotation and Oleo Flotation has given a significant yield at
acceptable ash%. Studies were also conducted to see the dewatering
of combined product by batch type centrifuge. It may further be
suggested that combination of different processes may be used to
treat the -3 mm fraction in an integrated manner to achieve the yield
at the desired ash level. The treatment of the 3/1 mm -0.5 mm size
fraction by spiral,-0.5-0.63 mm by conventional froth flotation and -
0.063 fractions by oleo flotation may provide a complete solution of
beneficiation and dewatering of coal fines, and can effectively
address the environmental problems caused by coal fines.
Abstract: The study attempted to identify the dominant
intelligences of athletes by comparing the developmental differences
of multiple intelligences between athletes and non-athletes. The
weekly specialized training hours and years of specialized training
was examined to see how it can predict the dominant intelligence with
the age factor controlled. There were 355 participants in the research
(202 athletes and 153 non-athletes). Collected data were analyzed with
one-way MANOVA and multiple hierarchical regression. The results
suggested the dominant intelligences of athletes were Interpersonal
Intelligence, Bodily-Kinesthetic Intelligence, and Intrapersonal
Intelligence. The weekly specialized training hours and years of
specialized training could effectively predict the Interpersonal
Intelligence, Bodily-Kinesthetic Intelligence, and Intrapersonal
Intelligence of athletes. The author suggested the future studies could
focus on the theory construction of weekly specialized training and
years of specialized training. Also, the studies on using “Bridge
strategy" by the athletes to guide disadvantage intelligences with
dominant intelligences are highly valued.
Abstract: In this paper we introduce a new unit test technique
called déjà-vu object. Déjà-vu objects replace real objects used by
classes under test, allowing the execution of isolated unit tests. A
déjà-vu object is able to observe and record the behaviour of a real
object during real sessions, and to replace it during unit tests,
returning previously recorded results. Consequently déjà-vu object
technique can be useful when a bottom-up development and testing
strategy is adopted. In this case déjà-vu objects can increase test
portability and test source code readability. At the same time they
can reduce the time spent by programmers to develop test code and
the risk of incompatibility during the switching between déjà-vu and
production code.
Abstract: Overhead conveyor systems are in use in many installations around the world, meeting the widest range of applications possible. Overhead conveyor systems are particularly preferred in automotive industry but also at post offices. Overhead conveyor systems must always be integrated with a logistical process by finding the best way for a cheaper material flow in order to guarantee precise and fast workflows. With their help, any transport can take place without wasting ground and space, without excessive company capacity, lost or damaged products, erroneous delivery, endless travels and without wasting time. Ultra-light overhead conveyor systems are rope-based conveying systems with individually driven vehicles. The vehicles can move automatically on the rope and this can be realized by energy and signals. Crossings are realized by switches. Ultra-light overhead conveyor systems provide optimal material flow, which produces profit and saves time. This article introduces two new ultra-light overhead conveyor designs in logistics and explains their components. According to the explanation of the components, scenarios are created by means of their technical characteristics. The scenarios are visualized with the help of CAD software. After that, assumptions are made for application area. According to these assumptions scenarios are visualized. These scenarios help logistics companies achieve lower development costs as well as quicker market maturity.
Abstract: For professions of high risk industries, simulation training has always been thought in terms of high degree of fidelity regarding the real operational situation. Due to the recent progress, this way of training is changing, modifying the human-computer and software interactions: the interactions between trainees during simulation training session tend to become virtual, transforming the social-based embodiness (the way subjects integrate social skills for interpersonal relationship with co-workers). On the basis of the analysis of eight different profession trainings, a categorization of interactions has help to produce an analytical tool, the social interactions table. This tool may be very valuable to point out the changes of social interactions when the training sessions are skipping from a high fidelity simulator to a virtual simulator. In this case, it helps the designers of professional training to analyze and to assess the consequences of the potential lack the social-based embodiness.