Abstract: This paper features the kinematic modelling of a 5-axis stationary articulated robot arm which is used for doing successful robotic manipulation task in its workspace. To start with, a 5-axes articulated robot was designed entirely from scratch and from indigenous components and a brief kinematic modelling was performed and using this kinematic model, the pick and place task was performed successfully in the work space of the robot. A user friendly GUI was developed in C++ language which was used to perform the successful robotic manipulation task using the developed mathematical kinematic model. This developed kinematic model also incorporates the obstacle avoiding algorithms also during the pick and place operation.
Abstract: In this paper, we present a novel technique called Self-Learning Expert System (SLES). Unlike Expert System, where there is a need for an expert to impart experiences and knowledge to create the knowledge base, this technique tries to acquire the experience and knowledge automatically. To display this technique at work, a simulation of a mobile robot navigating through an environment with obstacles is employed using visual basic. The mobile robot will move through this area without colliding with any obstacle and save the path that it took. If the mobile robot has to go through a similar environment again, then it will apply this experience to help it move through quicker without having to check for collision.
Abstract: Most simple nonlinear thresholding rules for
wavelet- based denoising assume that the wavelet coefficients are independent. However, wavelet coefficients of natural images have significant dependencies. This paper attempts to give a recipe for selecting one of the popular image-denoising algorithms based
on VisuShrink, SureShrink, OracleShrink, BayesShrink and BiShrink and also this paper compares different Bivariate models used for image denoising applications. The first part of the paper
compares different Shrinkage functions used for image-denoising.
The second part of the paper compares different bivariate models
and the third part of this paper uses the Bivariate model with modified marginal variance which is based on Laplacian assumption. This paper gives an experimental comparison on six 512x512 commonly used images, Lenna, Barbara, Goldhill,
Clown, Boat and Stonehenge. The following noise powers 25dB,26dB, 27dB, 28dB and 29dB are added to the six standard images and the corresponding Peak Signal to Noise Ratio (PSNR) values
are calculated for each noise level.
Abstract: Rice seed expression (cDNA) library in the Lambda
Zap 11® phage constructed from the developing grain 10-20 days
after flowering was transformed into yeast for functional
complementation assays in three salt sensitive yeast mutants S.
cerevisiae strain CY162, G19 and Axt3K. Transformed cells of G19
and Axt3K with pYES vector with cDNA inserts showed enhance
tolerance than those with empty pYes vector. Sequencing of the
cDNA inserts revealed that they encode for the putative proteins with
the sequence homologous to rice putative protein PROLM24
(Os06g31070), a prolamin precursor. Expression of this cDNA did
not affect yeast growth in absence of salt. Axt3k and G19 strains
expressing the PROLM24 were able to grow upto 400 mM and 600
mM of NaCl respectively. Similarly, Axt3k mutant with PROLM24
expression showed comparatively higher growth rate in the medium
with excess LiCl (50 mM). The observation that expression of
PROLM24 rescued the salt sensitive phenotypes of G19 and Axt3k
indicates the existence of a regulatory system that ameliorates the
effect of salt stress in the transformed yeast mutants. However, the
exact function of the cDNA sequence, which shows partial sequence
homology to yeast UTR1 is not clear. Although UTR1 involved in
ferrous uptake and iron homeostasis in yeast cells, there is no
evidence to prove its role in Na+ homeostasis in yeast cells. Absence
of transmembrane regions in Os06g31070 protein indicates that salt
tolerance is achieved not through the direct functional
complementation of the mutant genes but through an alternative
mechanism.
Abstract: This work aims to investigate a potential of
microalgae for utilizing industrial wastewater as a cheap nutrient for
their growth and oil accumulation. Wastewater was collected from
the effluent ponds of agro-industrial factories (cassava and ethanol
production plants). Only 2 microalgal strains were isolated and
identified as Scenedesmus quadricauda and Chlorella sp.. However,
only S. quadricauda was selected to cultivate in various wastewater
concentrations (10%, 20%, 40%, 60%, 80% and 100%). The highest
biomass obtained at 6.6×106 and 6.27×106 cells/ml when 60%
wastewater was used in flask and photo-bioreactor. The cultures gave
the highest lipid content at 18.58 % and 42.86% in cases of S.
quadricauda and S. obliquus. In addition, under salt stress (1.0 M
NaCl), S. obliquus demonstrated the highest lipid content at 50%
which was much more than the case of no NaCl adding. However, the
concentration of NaCl does not affect on lipid accumulation in case
of S. quadricauda.
Abstract: The remote diagnosis and remote medical smoked to
part. In China, in accordance with the requirements of different
applications of remote diagnosis and Relates to the technical
difference, which can be divided into special purpose remote diagnosis
and treatment system, the remote will Referral system, remote medical
consultation system, remote rehabilitation technology and remote
operation technology. In this article, will introduce China for the
special purpose of service remote diagnosis and treatment system and
technology, including: China disabled status and virtual reality
technology; China 's domestic family medical care system and China 's
current situation of the development of telemedicine.
Abstract: Mercury is a natural occurring element and present in
various concentrations in the environment. Due to its toxic effects, it
is desirable to research mercury sensitive materials to adsorb
mercury. This paper describes the preparation of Au nanoparticles for
mercury adsorption by using a microwave (MW)-polyol method in
the presence of three different Sodium Chloride (NaCl)
concentrations (10, 20 and 30 mM). Mixtures of spherical, triangular,
octahedral, decahedral particles and 1-D product were obtained using
this rapid method. Sizes and shapes was found strongly depend on the
concentrations of NaCl. Without NaCl concentration, spherical,
triangular plates, octahedral, decahedral nanoparticles and 1D
product were produced. At the lower NaCl concentration (10 mM),
spherical, octahedral and decahedral nanoparticles were present,
while spherical and decahedral nanoparticles were preferentially form
by using 20 mM of NaCl concentration. Spherical, triangular plates,
octahedral and decahedral nanoparticles were obtained at the highest
NaCl concentration (30 mM). The amount of mercury adsorbed using
20 ppm mercury solution is the highest (67.5 %) for NaCl
concentration of 30 mM. The high yield of polygonal particles will
increase the mercury adsorption. In addition, the adsorption of
mercury is also due to the sizes of the particles. The sizes of particles
become smaller with increasing NaCl concentrations (size ranges, 5-
16 nm) than those synthesized without addition of NaCl (size ranges
11-32 nm). It is concluded that NaCl concentrations affects the
formation of sizes and shapes of Au nanoparticles thus affects the
mercury adsorption.
Abstract: Fick's second law equations for unsteady state
diffusion of salt into the potato tissues were solved numerically. The
set of equations resulted from implicit modeling were solved using
Thomas method to find the salt concentration profiles in solid phase.
The needed effective diffusivity and equilibrium distribution
coefficient were determined experimentally. Cylindrical samples of
potato were infused with aqueous NaCl solutions of 1-3%
concentrations, and variations in salt concentrations of brine were
determined over time. Solute concentrations profiles of samples were
determined by measuring salt uptake of potato slices. For the studied
conditions, equilibrium distribution coefficients were found to be
dependent on salt concentrations, whereas the effective diffusivity
was slightly affected by brine concentration.
Abstract: In production of medicinal plants, seed germination is
very important problem. The treated seeds (control, hydro priming
and ZnSO4) of Cumin (Cuminum cyminum L.) were evaluated at
germination and seedling growth for tolerance to salt (NaCl and
Na2SO4) conditions at the same water potentials of 0.0, -0.3, -0.6, -
0.9 and -1.2MPa. Electrical conductivity (EC) values of the NaCl
solutions were 0.0, 6.5, 12.7, 18.4 and 23.5 dSm-1, respectively. The
objective of the study was to determine factors responsible for
germination and early seedling growth due to salt toxicity or osmotic
effect and to optimize the best priming treatment for these stress
conditions. Results revealed that germination delayed in both
solutions, having variable germination with different priming
treatments. Germination, shoot and weight, root and shoot length
were higher but mean germination time and abnormal germination
percentage were lower in NaCl than Na2SO4 at the same water
potential. The root / shoot weight and R/S length increased with
increase in osmotic potential in both NaCl and Na2SO4 solutions.
NaCl had less inhibitor effect on seedling growth than the
germination. It was concluded that inhibition of germination at the
same water potential of NaCl and Na2SO4 resulted from salt toxicity
rather than osmotic effect. Hydro priming increased germination and
seedling growth under salt stress. This protocol has practical
importance and could be recommended to farmers to achieve higher
germination and uniform emergence under field conditions.
Abstract: Implementing quality assurance in higher education establishments is the main focus of the reform process currently undertaken by the Ministry of Higher Education and Scientific Research in the Kurdistan Region of Iraq. The reform agenda has involved attempts to improve academic quality and management processes in universities, technical institutions and colleges. The central challenge for the reform process is to produce change in higher education in a region where administration is described as centralized and bureaucratic. To make these changes, there should be a well-designed plans and follow up processes in order to monitor progress and develop responses to obstacles. Lack of skills, resources, political dilemmas, poor motivation, and readiness to face the consequences of change are factors which will determine the success of the reform process.
Abstract: E-government projects have potential for greater efficiency and effectiveness of government operations. For this reason, many developing countries governments have invested heavily in this agenda and an increasing number of e-government projects are being implemented. However, there is a lack of clear case material, which describes the potentialities and consequence experienced by organizations trying to manage with this change. The Ministry of State for Administrative Development (MSAD) is the organization responsible for the e-Government program in Egypt since early 2004. This paper presents a case study of the process of admission to public universities and institutions in Egypt which is led by MSAD. Underlining the key benefits resulting from the initiative, explaining the strategies and the development steps used to implement it, and highlighting the main obstacles encountered and how they were overcome will help repeat the experience in other useful e-government projects.
Abstract: Text categorization is the problem of classifying text
documents into a set of predefined classes. In this paper, we
investigated three approaches to build a meta-classifier in order to
increase the classification accuracy. The basic idea is to learn a metaclassifier
to optimally select the best component classifier for each
data point. The experimental results show that combining classifiers
can significantly improve the accuracy of classification and that our
meta-classification strategy gives better results than each individual
classifier. For 7083 Reuters text documents we obtained a
classification accuracies up to 92.04%.
Abstract: This paper introduces a temporal epistemic logic
CBCTL that updates agent-s belief states through communications
in them, based on computational tree logic (CTL). In practical
environments, communication channels between agents may not be
secure, and in bad cases agents might suffer blackouts. In this study,
we provide inform* protocol based on ACL of FIPA, and declare the
presence of secure channels between two agents, dependent on time.
Thus, the belief state of each agent is updated along with the progress
of time. We show a prover, that is a reasoning system for a given
formula in a given a situation of an agent ; if it is directly provable
or if it could be validated through the chains of communications, the
system returns the proof.
Abstract: Supplier selection is a multi criteria decision-making process that comprises tangible and intangible factors. The majority of previous supplier selection techniques do not consider strategic perspective. Besides, uncertainty is one of the most important obstacles in supplier selection. For the first, time in this paper, the idea of the algorithm " Knapsack " is used to select suppliers Moreover, an attempt has to be made to take the advantage of a simple numerical method for solving model .This is an innovation to resolve any ambiguity in choosing suppliers. This model has been tried in the suppliers selected in a competitive environment and according to all desired standards of quality and quantity to show the efficiency of the model, an industry sample has been uses.
Abstract: Facility location problem involves locating a facility
to optimize some performance measures. Location of a public facility
to serve the community, such as a fire station, significantly affects its
service quality. Main objective in locating a fire station is to
minimize the response time, which is the time duration between
receiving a call and reaching the place of incident. In metropolitan
areas, fire vehicles need to cross highways and other traffic obstacles
through some obstacle-overcoming points which delay the response
time. In this paper, fire station location problem is analyzed.
Simulation models are developed for the location problems which
involve obstacles. Particular case problems are analyzed and the
results are presented.
Abstract: This study aims at investigating factors in research
and development (R&D) growth and exploring the role of R&D
management in enhancing social innovation and productivity
improvement in Iran-s industrial sector. It basically explores the
common types of R&D activities and the industries which benefited
the most from active R&D units in Iran. The researchers generated
qualitative analyses obtained from primary and secondary data.
The primary data have been retrieved through interviews with five
key players (Managing Director, Internal Manager, General Manager,
Executive Manager, and Project Manager) in the industrial sector.
The secondary data acquired from an investigation on Mazandaran, a
province of northern Iran. The findings highlight Iran-s focuses of R
& D on cost reduction and upgrading productivity. Industries that
have benefited the most from active R&D units are metallic,
machinery and equipment design, and automotive.
We rank order the primary effects of R&D on productivity
improvement as follows, industry improvement, economic growth,
using professional human resources, generating productivity and
creativity culture, creating a competitive and innovative environment,
and increasing people-s knowledge.
Generally, low budget dedication and insufficient supply of highly
skilled scientists and engineers are two important obstacles for R&D
in Iran. Whereas, R&D has resulted in improvement in Iranian
society, transfer of contemporary knowledge into the international
market is still lacking.
Abstract: This paper presents the experimental results of
leakage current waveforms which appears on porcelain insulator
surface due to existence of artificial pollutants. The tests have been
done using the chemical compounds of NaCl, Na2SiO3, H2SO4, CaO,
Na2SO4, KCl, Al2SO4, MgSO4, FeCl3, and TiO2. The insulator
surface was coated with those compounds and dried. Then, it was
tested in the chamber where the high voltage was applied. Using
correspondence analysis, the result indicated that the fundamental
harmonic of leakage current was very close to the applied voltage
and third harmonic leakage current was close to the yielded leakage
current amplitude. The first harmonic power was correlated to first
harmonic amplitude of leakage current, and third harmonic power
was close to third harmonic one. The chemical compounds of H2SO4
and Na2SiO3 affected to the power factor of around 70%. Both are the
most conductive, due to the power factor drastically increase among
the chemical compounds.
Abstract: In this paper, we propose the pre-processor based on
the Evidence Supporting Measure of Similarity (ESMS) filter and also
propose the unified fusion approach (UFA) based on the general
fusion machine coupled with ESMS filter, which improve the
correctness and precision of information fusion in any fields of
application. Here we mainly apply the new approach to Simultaneous
Localization And Mapping (SLAM) of Pioneer II mobile robots. A
simulation experiment was performed, where an autonomous virtual
mobile robot with sonar sensors evolves in a virtual world map with
obstacles. By comparing the result of building map according to the
general fusion machine (here DSmT-based fusing machine and
PCR5-based conflict redistributor considereded) coupling with ESMS
filter and without ESMS filter, it shows the benefit of the selection of
the sources as a prerequisite for improvement of the information
fusion, and also testifies the superiority of the UFA in dealing with
SLAM.
Abstract: In this paper we propose two first non-generic constructions
of multisignature scheme based on coding theory. The
first system make use of the CFS signature scheme and is secure
in random oracle while the second scheme is based on the KKS
construction and is a few times. The security of our construction relies
on a difficult problems in coding theory: The Syndrome Decoding
problem which has been proved NP-complete [4].
Abstract: Cardiovascular diseases, principally atherosclerosis, are responsible for 30% of world deaths. Atherosclerosis is due to the formation of plaque. The fatty plaque may be at risk of rupture, leading typically to stroke and heart attack. The plaque is usually associated with a high degree of lumen reduction, called a stenosis.It is increasingly recognized that the initiation and progression of disease and the occurrence of clinical events is a complex interplay between the local biomechanical environment and the local vascular biology. The aim of this study is to investigate the flow behavior through a stenosed artery. A physical experiment was performed using an artery model and blood analogue fluid. An axisymmetric model constructed consists of contraction and expansion region that follow a mathematical form of cosine function. A 30% diameter reduction was used in this study. The flow field was measured using particle image velocimetry (PIV). Spherical particles with 20μm diameter were seeded in a water-glycerol-NaCl mixture. Steady flow Reynolds numbers are 250. The area of interest is the region after the stenosis where the flow separation occurs. The velocity field was measured and the velocity gradient was investigated. There was high particle concentration in the recirculation zone. High velocity gradient formed immediately after the stenosis throat created a lift force that enhanced particle migration to the flow separation area.