Abstract: In this paper, an intelligent automatic parking control method is proposed. First, the dynamical equation of the rear parking control is derived. Then a fuzzy logic control is proposed to perform the parking planning process. Further, a rear neural network is proposed for the steering control. Through the simulations and experiments, the intelligent auto-parking mode controllers have been shown to achieve the demanded goals with satisfactory control performance and to guarantee the system robustness under parametric variations and external disturbances. To improve some shortcomings and limitations in conventional parking mode control and further to reduce consumption time and prime cost.
Abstract: In this paper, a novel adaptive fuzzy sliding mode
control method is proposed for the robust tracking control of robotic
manipulators. The proposed controller possesses the advantages of
adaptive control, fuzzy control, and sliding mode control. First, system
stability and robustness are guaranteed based on the sliding mode
control. Further, fuzzy rules are developed incorporating with
adaptation law to alleviate the input chattering effectively. Stability of
the control system is proven by using the Lyapunov method. An
application to a three-degree-of-freedom robotic manipulator is
carried out. Accurate trajectory tracking as well as robustness is
achieved. Input chattering is greatly eliminated.
Abstract: This article gives a short preview of the new software
created especially for palletizing process in automated production
systems. Each chapter of this article is about problem solving in
development of modules in Java programming language. First part
describes structure of the software, its modules and data flow
between them. Second part describes all deployment methods, which
are implemented in the software. Next chapter is about twodimensional
editor created for manipulation with objects in each
layer of the load and gives calculations for collision control. Module
of virtual reality used for three-dimensional preview and creation of
the load is described in the fifth chapter. The last part of this article
describes communication and data flow between control system of
the robot, vision system and software.
Abstract: The vehicle fleet of public transportation companies is often equipped with intelligent on-board passenger information systems. A frequently used but time and labor-intensive way for keeping the on-board controllers up-to-date is the manual update using different memory cards (e.g. flash cards) or portable computers. This paper describes a compression algorithm that enables data transmission using low bandwidth wireless radio networks (e.g. GPRS) by minimizing the amount of data traffic. In typical cases it reaches a compression rate of an order of magnitude better than that of the general purpose compressors. Compressed data can be easily expanded by the low-performance controllers, too.
Abstract: Nonspecific protein adsorption generally occurs on
any solid surfaces and usually has adverse consequences. Adsorption
of proteins onto a solid surface is believed to be the initial and
controlling step in biofouling. Surfaces modified with end-tethered
poly(ethylene glycol) (PEG) have been shown to be protein-resistant
to some degree. In this study, the adsorption of β-casein and
lysozyme was performed on 6 different types of surfaces where PEG
was tethered onto stainless steel by polyethylene imine (PEI) through
either OH or NHS end groups. Protein adsorption was also performed
on the bare stainless steel surface as a control. The adsorption was
conducted at 23 °C and pH 7.2. In situ QCM-D was used to
determine PEG adsorption kinetics, plateau PEG chain densities,
protein adsorption kinetics and plateau protein adsorbed quantities.
PEG grafting density was the highest for a NHS coupled chain,
around 0.5 chains / nm2. Interestingly, lysozyme which has smaller
size than β-casein, appeared to adsorb much less mass than that of β-
casein. Overall, the surface with high PEG grafting density exhibited
a good protein rejection.
Abstract: In this study, the problem of discriminating between interictal epileptic and non- epileptic pathological EEG cases, which present episodic loss of consciousness, investigated. We verify the accuracy of the feature extraction method of autocross-correlated coefficients which extracted and studied in previous study. For this purpose we used in one hand a suitable constructed artificial supervised LVQ1 neural network and in other a cross-correlation technique. To enforce the above verification we used a statistical procedure which based on a chi- square control. The classification and the statistical results showed that the proposed feature extraction is a significant accurate method for diagnostic discrimination cases between interictal and non-interictal EEG events and specifically the classification procedure showed that the LVQ neural method is superior than the cross-correlation one.
Abstract: This study was conducted to evaluate the effects of
gibberellic acid and 2,4- dichlorophenoxyacetic acid on flower
number, fruit growth and fruit quality of wax apple. GA3 and 2,4-D
were applied at small bud and petal fall stage. Number of flower,
fruit set, fruit drop, fruit crack, fruit growth and fruit quality were
recorded. Results indicated that spraying with 10 ppm GA3 had the
best results in number of flower. GA3 spray at 30 ppm gave the
faster rate of fruit growth than the other treatments. Fruit set, fruit
size as well as fruit weight markedly improved by spraying 30 ppm
GA3, followed by 10 ppm GA3 compared to untreated control.
Moreover, spray GA3 at 30 ppm was the most effective and
increased total soluble solids, reduced titratable acidity and fruit
drop. On the other hand, it was noticed that with 10 ppm 2,4-D
application also enhanced the fruit growth rate, improved
physiological and biochemical characters of fruit compared to
untreated control. It was concluded that both GA3 and 2,4-D spray
have positive effects on fruit development, reduced fruit drop, fruit
crack and improved fruit quality of wax apple under field conditions.
Abstract: Tuberculosis (TB) is a bacterial infectious disease caused by the obligate human pathogen, Mycobacterium tuberculosis. Multidrug-resistant tuberculosis (MDR-TB) is a global reality that threatens tuberculosis control. Resistance to antibiotic Rifampicin, occurs in 95% of cases through nucleotide substitutions in an 81-bp core region of the rpoB i.e; beta subunit of DNA dependant RNA polymerase. In this paper, we studied the Rifampicin-rpoB receptor interactions In silico. First, homology modeling was performed to obtain the three dimensional structure of Mycobacterium rpoB. Sixty analogs of Rifampicin were prepared using Marvin sketch software. Both original Rifampicin and the analogs were docked with rpoB and energy values were obtained. Out of sixty analogs, 43 analogs had lesser energy values than conventional Rifampicin and hence are predicted to have greater binding affinity to rpoB. Thus, this study offers a route for the development of Rifampicin analogs against multi drug resistant Mycobacterium rpoB.
Abstract: In this paper we consider a nonlinear control design for
nonlinear systems by using two-stage formal linearization and twotype
LQ controls. The ordinary LQ control is designed on almost
linear region around the steady state point. On the other region,
another control is derived as follows. This derivation is based on
coordinate transformation twice with respect to linearization functions
which are defined by polynomials. The linearized systems can be
made up by using Taylor expansion considered up to the higher order.
To the resulting formal linear system, the LQ control theory is applied
to obtain another LQ control. Finally these two-type LQ controls
are smoothly united to form a single nonlinear control. Numerical
experiments indicate that this control show remarkable performances
for a nonlinear system.
Abstract: Medical applications are among the most impactful
areas of microrobotics. The ultimate goal of medical microrobots is
to reach currently inaccessible areas of the human body and carry out
a host of complex operations such as minimally invasive surgery
(MIS), highly localized drug delivery, and screening for diseases at
their very early stages. Miniature, safe and efficient propulsion
systems hold the key to maturing this technology but they pose
significant challenges. A new type of propulsion developed recently,
uses multi-flagella architecture inspired by the motility mechanism of
prokaryotic microorganisms. There is a lack of efficient methods for
designing this type of propulsion system. The goal of this paper is to
overcome the lack and this way, a numerical strategy is proposed to
design multi-flagella propulsion systems. The strategy is based on the
implementation of the regularized stokeslet and rotlet theory, RFT
theory and new approach of “local corrected velocity". The effects of
shape parameters and angular velocities of each flagellum on overall
flow field and on the robot net forces and moments are considered.
Then a multi-layer perceptron artificial neural network is designed
and employed to adjust the angular velocities of the motors for
propulsion control. The proposed method applied successfully on a
sample configuration and useful demonstrative results is obtained.
Abstract: In this paper, a novel approach for robust trajectory tracking of induction motor drive is presented. By combining variable structure systems theory with fuzzy logic concept and neural network techniques, a new algorithm is developed. Fuzzy logic was used for the adaptation of the learning algorithm to improve the robustness of learning and operating of the neural network. The developed control algorithm is robust to parameter variations and external influences. It also assures precise trajectory tracking with the prescribed dynamics. The algorithm was verified by simulation and the results obtained demonstrate the effectiveness of the designed controller of induction motor drives which considered as highly non linear dynamic complex systems and variable characteristics over the operating conditions.
Abstract: Nitrogen loss from irrigated cropland, particularly
sandy soils, significantly contributes to nitrate (NO3
-) levels in
surface and groundwaters. Thus, it is of great interest to use
inexpensive natural products that can increase the fertilizer efficiency
and decrease nitrate leaching. In this study, the ability of natural
Iranian zeolite clinoptilolite (Cp) and surfactant modified zeolite
clinoptilolite (SMZ) to remove NH4
+ and NO3
-, respectively, from
aqueous solutions was determined. The feasibility of using Cp and
SMZ as soil amendment to reduce nitrate leaching from soil using
lysimeters was also investigated. Zeolite showed 10.23% to 88.42%
NH4
+ removal efficiency over a wide range of initial NH4
+
concentrations. Nitrate removal efficiency by SMZ was 32.26% to
82.26%. Field study results showed that Cp and SMZ significantly (p
< 0.05) reduced leachate NO3-N concentration compared to control.
There was no significant difference between maximum and mean
leachate NO3-N concentration of SMZ lysimeters and those of Cp
lysimeters.
Abstract: Dehydration process was carried out for tomato slices of var. Avinash after giving different pre-treatments such as calcium chloride (CaCl2), potassium metabisulphite (KMS), calcium chloride and potassium metabisulphite (CaCl2 +KMS), and sodium chloride (NaCl). Untreated samples served as control. Solar drier and continuous conveyor (tunnel) drier were used for dehydration. Quality characteristics of tomato slices viz. moisture content, sugar, titratable acidity, lycopene content, dehydration ratio, rehydration ratio and non-enzymatic browning as affected by dehydration process were studied. Storage study was also carried out for a period of six months for tomato powder packed into different types of packaging materials viz. metalized polyester (MP) film and low density poly ethylene (LDPE). Changes in lycopene content and non-enzymatic browning (NEB) were estimated during storage at room temperature. Pretreatment of 5 mm thickness of tomato slices with calcium chloride in combination with potassium metabisulphite and drying using a tunnel drier with subsequent storage of product in metalized polyester bags was selected as the best process.
Abstract: This paper describes an expanded system for a servo
system design by using the Loop Shaping Design Procedure (LSDP).
LSDP is one of the H∞ design procedure. By conducting Loop
Shaping with a compensator and robust stabilization to satisfy the
index function, we get the feedback controller that makes the control
system stable. In this paper, we propose an expanded system for a
servo system design and apply to the DC motor. The proposed method
performs well in the DC motor positioning control. It has no
steady-state error in the disturbance response and it has robust
stability.
Abstract: This paper presents a robust proportionalderivative
(PD) based cerebellar model articulation
controller (CMAC) for vertical take-off and landing flight
control systems. Successful on-line training and recalling
process of CMAC accompanying the PD controller is
developed. The advantage of the proposed method is mainly
the robust tracking performance against aerodynamic
parametric variation and external wind gust. The
effectiveness of the proposed algorithm is validated through
the application of a vertical takeoff and landing aircraft
control system.
Abstract: In this paper, FinFET devices are analyzed with
emphasis on sub-threshold leakage current control. This is achieved
through proper biasing of the back gate, and through the use of
asymmetric work functions for the four terminal FinFET devices. We
are also examining different configurations of multiplexers and XOR
gates using transistors of symmetric and asymmetric work functions.
Based on extensive characterization data for MUX circuits, our
proposed configuration using symmetric devices lead to leakage
current and delay improvements of 65% and 47% respectively
compared to results in the literature. For XOR gates, a 90%
improvement in the average leakage current is achieved by using
asymmetric devices. All simulations are based on a 25nm FinFET
technology using the University of Florida UFDG model.
Abstract: The present study attempted to improve the Mercury
(Hg) sorption capacity of kanuma volcanic ash soil (KVAS) by
impregnating the cupper (Cu). Impregnation was executed by 1 and
5% Cu powder and sorption characterization of optimum Hg
removing Cu impregnated KVAS was performed under different
operational conditions, contact time, solution pH, sorbent dosage and
Hg concentration using the batch operation studies. The 1% Cu
impregnated KVAS pronounced optimum improvement (79%) in
removing Hg from water compare to control. The present
investigation determined the equilibrium state of maximum Hg
adsorption at 6 h contact period. The adsorption revealed a pH
dependent response and pH 3.5 showed maximum sorption capacity
of Hg. Freundlich isotherm model is well fitted with the experimental
data than that of Langmuir isotherm. It can be concluded that the Cu
impregnation improves the Hg sorption capacity of KVAS and 1%
Cu impregnated KVAS could be employed as cost-effective
adsorbent media for treating Hg contaminated water.
Abstract: Fuel cell is an emerging technology in the field
of renewable energy sources which has the capacity to replace
conventional energy generation sources. Fuel cell utilizes hydrogen
energy to produce electricity. The electricity generated by the fuel
cell can’t be directly used for a specific application as it needs
proper power conditioning. Moreover, the output power fluctuates
with different operating conditions. To get a stable output power
at an economic rate, power conditioning circuit is essential for fuel
cell. This paper implements a two-staged power conditioning unit for
fuel cell based distributed generation using hysteresis current control
technique.
Abstract: This research studied the hypoglycemic effect of
water soluble polysaccharide (WSP) extracted from yam (Dioscorea
hispida) tuber by three different methods: aqueous extraction, papain
assisted extraction, and tempeh inoculums assisted extraction. The
two later extraction methods were aimed to remove WSP binding
protein to have more pure WSP. The hypoglycemic activities were
evaluated by means in vivo test on alloxan induced hyperglycemic
rats, glucose response test (GRT), in situ glucose absorption test
using everted sac, and short chain fatty acids (SCFAs) analysis. All
yam WSP extracts exhibited ability to decrease blood glucose level in
hyperglycemia condition as well as inhibited glucose absorption and
SCFA formation. The order of hypoglycemic activity was tempeh
inoculums assisted- >papain assisted- >aqueous WSP extracts. GRT
and in situ glucose absorption test showed that order of inhibition
was papain assisted- >tempeh inoculums assisted- >aqueous WSP
extracts. Digesta of caecum of yam WSP extracts oral fed rats had
more SCFA than control. Tempeh inoculums assisted WSP extract
exhibited the most significant hypoglycemic activity.
Abstract: The critical period for weed control (CPWC) is the period in the crop growth cycle during which weeds must be controlled to prevent unacceptable yield losses. Field studies were conducted in 2005 and 2006 in the University of Birjand at the south east of Iran to determine CPWC of corn using a randomized complete block design with 14 treatments and four replications. The treatments consisted of two different periods of weed interference, a critical weed-free period and a critical time of weed removal, were imposed at V3, V6, V9, V12, V15, and R1 (based on phonological stages of corn development) with a weedy check and a weed-free check. The CPWC was determined with the use of 2.5, 5, 10, 15 and 20% acceptable yield loss levels by non-linear Regression method and fitting Logistic and Gompertz nonlinear equations to relative yield data. The CPWC of corn was from 5- to 15-leaf stage (19-55 DAE) to prevent yield losses of 5%. This period to prevent yield losses of 2.5, 10 and 20% was 4- to 17-leaf stage (14-59 DAE), 6- to 12-leaf stage (25-47 DAE) and 8- to 9-leaf stage (31-36 DAE) respectively. The height and leaf area index of corn were significantly decreased by weed competition in both weed free and weed infested treatments (P