Abstract: This paper presents a sensing system for 3D sensing
and mapping by a tracked mobile robot with an arm-type sensor
movable unit and a laser range finder (LRF). The arm-type sensor
movable unit is mounted on the robot and the LRF is installed at the
end of the unit. This system enables the sensor to change position and
orientation so that it avoids occlusions according to terrain by this
mechanism. This sensing system is also able to change the height of
the LRF by keeping its orientation flat for efficient sensing. In this kind
of mapping, it may be difficult for moving robot to apply mapping
algorithms such as the iterative closest point (ICP) because sets of the
2D data at each sensor height may be distant in a common surface. In
order for this kind of mapping, the authors therefore applied
interpolation to generate plausible model data for ICP. The results of
several experiments provided validity of these kinds of sensing and
mapping in this sensing system.
Abstract: We present a dual-band (Cellular & PCS) dual-path
zero-IF receiver for CDMA2000 diversity, monitoring and
simultaneous-GPS. The secondary path is a SAW-less diversity
CDMA receiver which can be also used for advanced features like
monitoring when supported with an additional external VCO. A GPS
receiver is integrated with its dedicated VCO allowing simultaneous
positioning during a cellular call. The circuit is implemented in a
0.25μm 40GHz-fT BiCMOS process and uses a HVQFN 56-pin
package. It consumes a maximum 300mW from a 2.8V supply in
dual-modes. The chip area is 12.8mm2.
Abstract: International competitiveness receives much attention
nowadays, but up to now its assessment has been heavily based on
manufacturing industry statistics. This paper addresses the need for
competitiveness indicators that cover the service sector and sets out a
multilevel framework for measuring international services trade
competitiveness. The approach undertaken here aims at
comparatively examining the international competitiveness of the
EU-25 (the twenty-five European Union member states before the 1st
of January 2007), Romanian and Bulgarian services trade, as well as
the last two countries- structure of specialization on the EU-25
services market. The primary changes in the international
competitiveness of three major services sectors – transportation,
travel and other services - are analyzed. This research attempts to
determine the ability of the two recent European Union (EU) member
states to contend with the challenges that might arise from the hard
competition within the enlarged EU, in the field of services trade.
Abstract: Biomechanical properties of infantile aorta in vitro in
cases of different standard anastomoses: end-to-end (ETE), extended
anastomosis end-to-end (EETE) and subclavian flap aortoplasty
(SFA) used for surgical correction of coarctation were analyzed to
detect the influence of the method on the biomechanics of infantile
aorta and possible changes in haemodinamics. 10 specimens of native
aorta, 3 specimens with ETE, 4 EEET and 3 SFA were investigated.
The experiments showed a non-linear relationship between stress and
strain in the infantile aorta, the modulus of elasticity of the aortic wall
increased with the increase of inner pressure. In the case of
anastomosis end-to-end the modulus was almost constant, relevant to
the modulus of elasticity of the aorta with the inner pressure 100-120
mmHg. The anastomoses EETE and SFA showed elastic properties
closer to native aorta, the stiffness of ETE did not change with the
changes in inner pressure.
Abstract: The way music is interpreted by the human brain is a very interesting topic, but also an intricate one. Although this domain has been studied for over a century, many gray areas remain in the understanding of music. Recent advances have enabled us to perform accurate measurements of the time taken by the human brain to interpret and assimilate a sound. Cognitive computing provides tools and development environments that facilitate human cognition simulation. ACT-R is a cognitive architecture which offers an environment for implementing human cognitive tasks. This project combines our understanding of the music interpretation by a human listener and the ACT-R cognitive architecture to build SINGER, a computerized simulation for listening and recalling songs. The results are similar to human experimental data. Simulation results also show how it is easier to remember short melodies than long melodies which require more trials to be recalled correctly.
Abstract: This paper presents the system identification by
physical-s law method and designs the controller for the Azimuth
Angle Control of the Platform of the Multi-Launcher Rocket System
(MLRS) by Root Locus technique. The plant mathematical model
was approximated using MATLAB for simulation and analyze the
system. The controller proposes the implementation of PID
Controller using Programmable Logic Control (PLC) for control the
plant. PID Controllers are widely applicable in industrial sectors and
can be set up easily and operate optimally for enhanced productivity,
improved quality and reduce maintenance requirement. The results
from simulation and experiments show that the proposed a PID
Controller to control the elevation angle that has superior control
performance by the setting time less than 12 sec, the rise time less
than 1.6 sec., and zero steady state. Furthermore, the system has a
high over shoot that will be continue development.
Abstract: The goal of steganography is to avoid drawing
suspicion to the transmission of a hidden message. If suspicion is
raised, steganography may fail. The success of steganography
depends on the secrecy of the action. If steganography is detected,
the system will fail but data security depends on the robustness of the
applied algorithm. In this paper, we propose a novel plausible
deniability scheme in steganography by using a diversionary message
and encrypt it with a DES-based algorithm. Then, we compress the
secret message and encrypt it by the receiver-s public key along with
the stego key and embed both messages in a carrier using an
embedding algorithm. It will be demonstrated how this method can
support plausible deniability and is robust against steganalysis.
Abstract: Managers as the key employees have a very important role in maintaining the workforce performance which is critical to the
construction companies- success in the future. If motivated employees start with motivated managers probably it would seem
plausible if the de-motivated ones start with de-motivated managers. This study aims to analyze the importance of motivated managers to
their successes and construction companies- successes. In this study,
a quantitative method was used and the study area was in Medan, North Sumatera. Questionnaire survey was distributed directly to
construction companies in Medan which are listed in the
Construction Services Development Board. A total of 60 managers responded and the completed questionnaires were analyzed using the
descriptive analysis. The results indicated that the respondents acknowledge the importance of motivation among themselves to the
projects and construction companies- success, implying that it is vital o maintain the motivation and good performance of the workforce.
Abstract: Low power consumption is a major constraint for battery-powered system like computer notebook or PDA. In the past, specialists usually designed both specific optimized equipments and codes to relief this concern. Doing like this could work for quite a long time, however, in this era, there is another significant restraint, the time to market. To be able to serve along the power constraint while can launch products in shorter production period, objectoriented programming (OOP) has stepped in to this field. Though everyone knows that OOP has quite much more overhead than assembly and procedural languages, development trend still heads to this new world, which contradicts with the target of low power consumption. Most of the prior power related software researches reported that OOP consumed much resource, however, as industry had to accept it due to business reasons, up to now, no papers yet had mentioned about how to choose the best OOP practice in this power limited boundary. This article is the pioneer that tries to specify and propose the optimized strategy in writing OOP software under energy concerned environment, based on quantitative real results. The language chosen for studying is C# based on .NET Framework 2.0 which is one of the trendy OOP development environments. The recommendation gotten from this research would be a good roadmap that can help developers in coding that well balances between time to market and time of battery.
Abstract: Land with low pH soil spread widely in Indonesia
can be used for soybean (Glycine max) cultivation, however the
production is low. The use of acid tolerant soybean and acidaluminium
tolerant nitrogen-fixing bacteria formula was an
alternative way to increase soybean productivity on acid soils.
Bradyrhizobium japonicum is one of the nitrogen fixing bacteria
which can symbiose with soybean plants through root nodule
formation. Most of the nitrogen source required by soybean plants
can be provided by this symbiosis. This research was conducted to
study the influence of acid-aluminium tolerant B. japonicum strain
BJ 11 formula using peat as carrier on growth of Tanggamus and
Anjasmoro cultivar soybean planted on acid soil fields (pH 5.0-
5.5). The results showed that the inoculant was able to increase the
growth and production of soybean which were grown on fields acid
soil at Sukadana (Lampung) and Tanah Laut (South Kalimantan),
Indonesia.
Abstract: The Implementation of the Union law faces major
challenges today. If for a long period of time, the Community and the
Union have persevered in their legislative vocation, now one can
notice that this large legislative quantity has complicated the task of
knowledge and of application the European standards. Under these
circumstances, it became necessary, in order to give effectiveness to
the European legislation, the development of some operational
application criteria and the generation of some new implementation
tools. The correct application of the European Union legislation by
the national public administrations was considered by the European
Commission as being crucial for further integration and proper
functioning of the internal market. Among the initiatives launched in
the past years to promote the exchange of good administrative
practices in the correct application of European Union legislation,
SOLVIT net has proved to be one of the most effective.
Abstract: Antimicrobial (AM) starch-based films were
developed by incorporating chitosan and lauric acid as antimicrobial
agent into starch-based film. Chitosan has wide range of applications
as a biomaterial, but barriers still exist to its broader use due to its
physical and chemical limitations. In this work, a series of
starch/chitosan (SC) blend films containing 8% of lauric acid was
prepared by casting method. The structure of the film was
characterized by Fourier transform infrared spectroscopy (FTIR), Xray
diffraction (XRD), and scanning electron microscopy (SEM).
The results indicated that there were strong interactions were present
between the hydroxyl groups of starch and the amino groups of
chitosan resulting in a good miscibility between starch and chitosan
in the blend films. Physical properties and optical properties of the
AM starch-based film were evaluated. The AM starch-based films
incorporated with chitosan and lauric acid showed an improvement in
water vapour transmission rate (WVTR) and addition of starch
content provided more transparent films while the yellowness of the
film attributed to the higher chitosan content. The improvement in
water barrier properties was mainly attributed to the hydrophobicity
of lauric acid and optimum chitosan or starch content. AM starch
based film also showed excellent oxygen barrier. Obtaining films
with good oxygen permeability would be an indication of the
potential use of these antimicrobial packaging as a natural packaging
and an alternative packaging to the synthetic polymer to protect food
from oxidation reactions
Abstract: A Cable-Driven Locomotion Interface provides a low
inertia haptic interface and is used as a way of enabling the user
to walk and interact with virtual surfaces. These surfaces generate
Cartesian wrenches which must be optimized for each motorized
reel in order to reproduce a haptic sensation in both feet. However,
the use of wrench control requires a measure of the cable tensions
applied to the moving platform. The latter measure may be inaccurate
if it is based on sensors located near the reel. Moreover, friction
hysteresis from the reel moving parts needs to be compensated
for with an evaluation of low angular velocity of the motor shaft.
Also, the pose of the platform is not known precisely due to cable
sagging and mechanical deformation. This paper presents a non-ideal
motorized reel design with its corresponding control strategy that
aims at overcoming the aforementioned issues. A transfert function
of the reel based on frequency responses in function of cable tension
and cable length is presented with an optimal adaptative PIDF
controller. Finally, an hybrid position/tension control is discussed with
an analysis of the stability for achieving a complete functionnality of
the haptic platform.
Abstract: Hydrogen sulfide (H2S) is a very toxic gas that is produced in very large quantities in the oil and gas industry. It cannot be flared to the atmosphere and Claus process based gas plants are used to recover the sulfur and convert the hydrogen to water. In this paper, we present optical characterization of an atmospheric pressure microwave plasma torch for H2S dissociation into hydrogen and sulfur. The torch is operated at 2.45 GHz with power up to 2 kW. Three different gases can simultaneously be injected in the plasma torch. Visual imaging and optical emission spectroscopy are used to characterize the plasma for varying gas flow rates and microwave power. The plasma length, emission spectra and temperature are presented. The obtained experimental results validate our earlier published simulation results of plasma torch.
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: Laboratory classes in Electrical Engineering are often hampered by safety issues, as students have to work on high voltage lines. One solution is to make use of virtual laboratory simulations, to help students understand the concepts taught in their coursework. In this context, we have conceived and implemented virtual lab experiments in connection with the study of earthing arrangements. In this work, software was developed, which aid student in understanding the working of a residual current device (RCD) in a TT earthing system. Various parameters, such as the earthing resistances, leakage currents and harmonics were included for a TT system with RCD connection.
Abstract: Linear convolutive filters are fast in calculation and in application, and thus, often used for real-time processing of continuous data streams. In the case of transient signals, a filter has not only to detect the presence of a specific waveform, but to estimate its arrival time as well. In this study, a measure is presented which indicates the performance of detectors in achieving both of these tasks simultaneously. Furthermore, a new sub-class of linear filters within the class of filters which minimize the quadratic response is proposed. The proposed filters are more flexible than the existing ones, like the adaptive matched filter or the minimum power distortionless response beamformer, and prove to be superior with respect to that measure in certain settings. Simulations of a real-time scenario confirm the advantage of these filters as well as the usefulness of the performance measure.
Abstract: An effective visual error concealment method has been presented by employing a robust rotation, scale, and translation (RST) invariant partial patch matching model (RSTI-PPMM) and
exemplar-based inpainting. While the proposed robust and inherently
feature-enhanced texture synthesis approach ensures the generation
of excellent and perceptually plausible visual error concealment results, the outlier pruning property guarantees the significant quality improvements, both quantitatively and qualitatively. No intermediate
user-interaction is required for the pre-segmented media and the
presented method follows a bootstrapping approach for an automatic
visual loss recovery and the image and video error concealment.
Abstract: This paper presents the new results of energy plant –
rye and triticale at yellow ripeness and ripe, pre-treatment in high
pressure steam reactor and monosaccharide extraction. There were
investigated the influence of steam pressure (20 to 22 bar), retention
duration (180 to 240 s) and catalytic sulphuric acid concentration
strength (0 to 0.5 %) on the pre-treatment process, contents of
monosaccharides (glucose, arabinose, xylose, mannose) and
undesirable by-compounds (furfural and HMF) in the reactor. The
study has determined that the largest amount of monosaccharides
(37.2 % of glucose, 2.7 % of arabinose, 8.4 % of xylose, and 1.3 %
of mannose) was received in the rye at ripe, the samples of which
were mixed with 0.5 % concentration of catalytic sulphuric acid, and
hydrolysed in the reactor, where the pressure was 20 bar, whereas the
reaction time – 240 s.
Abstract: We consider here the subsonic impinging jet
representing the flow field of a vertical take-off aircraft or the initial
stage of rocket launching. Implicit Large-Eddy Simulation (ILES) is
used to calculate the time-dependent flow field and the radiate sound
pressure associated with jet impinging. With proper boundary
treatments and high-order numerical scheme, the near field sound
pressure is successfully obtained. Results are presented for both a
rectangular as well a circular jet.