Abstract: In this paper, we propose a solution to the motion
control problem of a 2-link revolute manipulator arm. We require the
end-effector of the arm to move safely to its designated target in a
priori known workspace cluttered with fixed circular obstacles of
arbitrary position and sizes. Firstly a unique velocity algorithm is
used to move the end-effector to its target. Secondly, for obstacle
avoidance a turning angle is designed, which when incorporated into
the control laws ensures that the entire robot arm avoids any number
of fixed obstacles along its path enroute the target. The control laws
proposed in this paper also ensure that the equilibrium point of the
system is asymptotically stable. Computer simulations of the
proposed technique are presented.
Abstract: Active research is underway on virtual touch screens
that complement the physical limitations of conventional touch
screens. This paper discusses a virtual touch screen that uses a
multi-layer perceptron to recognize and control three-dimensional
(3D) depth information from a time of flight (TOF) camera. This
system extracts an object-s area from the image input and compares it
with the trajectory of the object, which is learned in advance, to
recognize gestures. The system enables the maneuvering of content in
virtual space by utilizing human actions.
Abstract: ZnO+Ga2O3 functionally graded thin films (FGTFs)
were examined for their potential use as Solar cell and organic light
emitting diodes (OLEDs). FGTF transparent conducting oxides (TCO)
were fabricated by combinatorial RF magnetron sputtering. The
composition gradient was controlled up to 10% by changing the
plasma power of the two sputter guns. A Ga2O3+ZnO graded region
was placed on the top layer of ZnO. The FGTFs showed up to 80%
transmittance. Their surface resistances were reduced to < 10% by
increasing the Ga2O3: pure ZnO ratio in the TCO. The FGTFs- work
functions could be controlled within a range of 0.18 eV. The
controlled work function is a very promising technology because it
reduces the contact resistance between the anode and Hall transport
layers of OLED and solar cell devices.
Abstract: The migration-environment nexus has gained increased interest from the social research field over the last years. While straightly connected to human security issues, this theme has pervaded through the media to the public sphere. Therefore, it is important to observe how did the discussions over environmentally induced migrations develop from the scientific basis to the media attention, passing through some political voices, and in which ways might these messages be interpreted within the broader public discourses. To achieve this purpose, the analysis of the press entries between 2004 and 2010 in three of the main Portuguese newspapers shall be presented, specially reflecting upon the events, protagonists, topics, geographical attributions and terms/expressions used to define those who migrate due to environmental degradation or disasters.
Abstract: We deal with the numerical solution of time-dependent convection-diffusion-reaction equations. We combine the local projection stabilization method for the space discretization with two different time discretization schemes: the continuous Galerkin-Petrov (cGP) method and the discontinuous Galerkin (dG) method of polynomial of degree k. We establish the optimal error estimates and present numerical results which shows that the cGP(k) and dG(k)- methods are accurate of order k +1, respectively, in the whole time interval. Moreover, the cGP(k)-method is superconvergent of order 2k and dG(k)-method is of order 2k +1 at the discrete time points. Furthermore, the dependence of the results on the choice of the stabilization parameter are discussed and compared.
Abstract: In this paper methodology to exploit creeping wave
for body area network BAN communication reliability are described.
Creeping wave propagation effects are visualized & analyzed.
During this work Dipole, IA antennas various antennas were
redesigned using existing designs and their propagation
characteristics were verified for optimum performance when used on
BANs. These antennas were then applied on body shapes-including
rectangular, spherical and cylindrical so that all the effects of actual
human body can be taken nearly into account. Parametric simulation
scheme was devised so that on Body channel characterization can be
visualized at front, curved and back region. In the next phase
multiple inputs multiple output MIMO scheme was introduced where
virtual antennas were used in order to diminish the effects of
antennas on the propagation of waves. Results were, extracted and
analyzed at different heights. Finally based on comparative
measurement and analysis it was concluded that on body propagation
can be exploited to gain spatial diversity.
Abstract: The present work describes a computational study of
aerodynamic characteristics of GLC305 airfoil clean and with 16.7
min ice shape (rime 212) and 22.5 min ice shape (glaze 944).The
performance of turbulence models SA, Kε, Kω Std, and Kω SST
model are observed against experimental flow fields at different
Mach numbers 0.12, 0.21, 0.28 in a range of Reynolds numbers
3x106, 6x106, and 10.5x106 on clean and iced aircraft airfoil
GLC305. Numerical predictions include lift, drag and pitching
moment coefficients at different Mach numbers and at different angle
of attacks were done. Accuracy of solutions with respect to the
effects of turbulence models, variation of Mach number, initial
conditions, grid resolution and grid spacing near the wall made the
study much sensitive. Navier Stokes equation based computational
technique is used. Results are very close to the experimental results.
It has seen that SA and SST models are more efficient than Kε and
Kω standard in under study problem.
Abstract: As a part of routine oesophageal HDR Brachytherapy procedure, treatment planning takes about 45 minutes while patients are under light sedation. Some patients may suffer gagging and/or spasms before the 90-minute brachytherapy procedure complete, and the treatment may need to be aborted. A pre-prepared plan generated before patient’s sedation may reduce the brachytherapy procedure time by 40 minutes. This paper reports rationality and evidence of pre-prepared treatment plans. A retrospective study of 28 patients confirms that pre-prepared plans would be acceptable for all reviewed patients. The rationality is further confirmed by a systemic study with a wide range of applicator curvature and treatment volume. Detailed comparison between CT based treatment plans and pre-prepared plans are discussed. The argument holds for endobronchial HDR brachytherapy too. With the above evidence, pre-prepared plans have been used for all oesophageal and endobronchial HDR brachytherapy cases in our clinic.
Abstract: To increase the maximum span of cable-stayed
bridges, Uwe Starossek has developed a modified statical system.
The basic idea of this new concept is the use of pairs of inclined
pylon legs that spread out longitudinally from the foundation base or
from the girder level.
Spread-pylon cable-stayed bridge has distinct advantage like
reduction of sag of cables and oscillation of cable during earthquake
over traditional cable-stayed bridges. Spread-pylon also improves
seismic performance of deck during strong ground motion.
Abstract: The paper addresses a problem of optimal staffing in
open shop environment. The problem is to determine the optimal
number of operators serving a given number of machines to fulfill the
number of independent operations while minimizing staff idle. Using
a Gantt chart presentation of the problem it is modeled as twodimensional
cutting stock problem. A mixed-integer programming
model is used to get minimal job processing time (makespan) for
fixed number of machines' operators. An algorithm for optimal openshop
staffing is developed based on iterative solving of the
formulated optimization task. The execution of the developed
algorithm provides optimal number of machines' operators in the
sense of minimum staff idle and optimal makespan for that number of
operators. The proposed algorithm is tested numerically for a real life
staffing problem. The testing results show the practical applicability
for similar open shop staffing problems.
Abstract: This paper has as its main aim to analyse how
corporate web pages can become an essential tool in order to detect
strategic trends by firms or sectors, and even a primary source for
benchmarking. This technique has made it possible to identify the key
issues in the strategic management of the most excellent large Spanish
firms and also to describe trends in their long-range planning, a way of
working that can be generalised to any country or firm group. More
precisely, two objectives were sought. The first one consisted in showing
the way in which corporate websites make it possible to obtain direct
information about the strategic variables which can define firms. This
tool is dynamic (since web pages are constantly updated) as well as
direct and reliable, since the information comes from the firm itself, not
from comments of third parties (such as journalists, academicians,
consultants...). When this information is analysed for a group of firms,
one can observe their characteristics in terms of both managerial tasks
and business management. As for the second objective, the methodology
proposed served to describe the corporate profile of the large Spanish
enterprises included in the Ibex35 (the Ibex35 or Iberia Index is the
reference index in the Spanish Stock Exchange and gathers periodically
the 35 most outstanding Spanish firms). An attempt is therefore made to
define the long-range planning that would be characteristic of the largest
Spanish firms.
Abstract: The objective of this study was to evaluate the
distribution patterns of Cd, Zn and Hg in groundwater by geospatial
interpolation. The study was performed at Rayong province in the
eastern part of Thailand, with high agricultural and industrial
activities. Groundwater samples were collected twice a year from 31
tubewells around this area. Inductively Coupled Plasma-Atomic
Emission Spectrometer (ICP-AES) was used to measure the
concentrations of Cd, Zn, and Hg in groundwater samples. The
results demonstrated that concentrations of Cd, Zn and Hg range
from 0.000-0.297 mg/L (x = 0.021±0.033 mg/L), 0.022-33.236 mg/L
(x = 4.214±4.766 mg/L) and 0.000-0.289 mg/L (x = 0.023±0.034
mg/L), respectively. Most of the heavy metals concentrations were
exceeded groundwater quality standards as specified in the Ministry
of Natural Resources and Environment, Thailand. The trend
distribution of heavy metals were high concentrations at the
southeastern part of the area that especially vulnerable to heavy
metals and other contaminants.
Abstract: This paper proposes a method to improve the shortest
path problem on a NURBS (Non-uniform rational basis spline) surfaces.
It comes from an application of the theory in classic differential
geometry on surfaces and can improve the distance problem not only
on surfaces but in the Euclidean 3-space R3 .
Abstract: This paper considers a robust recovery of sparse frequencies
from partial phase-only measurements. With the proposed
method, sparse frequencies can be reconstructed, which makes full
use of the sparse distribution in the Fourier representation of the
complex-valued time signal. Simulation experiments illustrate the
proposed method-s advantages over conventional methods in both
noiseless and additive white Gaussian noise cases.
Abstract: The use of Virtual Reality (VR) in schools and higher education is proliferating. Due to its interactive and animated features, it is regarded as a promising technology to increase students- spatial ability. Spatial ability is assumed to have a prominent role in science and engineering domains. However, research concerning individual differences such as spatial ability in the context of VR is still at its infancy. Moreover, empirical studies that focus on the features of VR to improve spatial ability are to date rare. Thus, this paper explores the possible educational values of VR in relation to spatial ability to call for more research concerning spatial ability in the context of VR based on studies in computerbased learning. It is believed that the incorporation of state-of-the-art VR technology for educational purposes should be justified by the enhanced benefits for the target learners.
Abstract: The machining of Carbon Fiber Reinforced Plastics
has come to constitute a significant challenge for many fields of
industry. The resulting surface finish of machined parts is of primary
concern for several reasons, including contact quality and impact on
the assembly. Therefore, the characterization and prediction of
roughness based on machining parameters are crucial for costeffective
operations. In this study, a PCD tool comprised of two
straight flutes was used to trim 32-ply carbon fiber laminates in a bid
to analyze the effects of the feed rate and the cutting speed on the
surface roughness. The results show that while the speed has but a
slight impact on the surface finish, the feed rate for its part affects it
strongly. A detailed study was also conducted on the effect of fiber
orientation on surface roughness, for quasi-isotropic laminates used
in aerospace. The resulting roughness profiles for the four-ply
orientation lay-up were compared, and it was found that fiber angle is
a critical parameter relating to surface roughness. One of the four
orientations studied led to very poor surface finishes, and
characteristic roughness profiles were identified and found to only
relate to the ply orientations of multilayer carbon fiber laminates.
Abstract: The pyrolysis characteristics and kinetics of seven marine biomass, which are fixed Enteromorpha clathrata, floating Enteromorpha clathrata, Ulva lactuca L., Zosterae Marinae L., Thallus Laminariae, Asparagus schoberioides kunth and Undaria pinnatifida (Harv.), were studied with thermogravimetric analysis method. Simultaneously, cornstalk, which is a grass biomass, and sawdust, which is a lignocellulosic biomass, were references. The basic pyrolysis characteristics were studied by using TG- DTG-DTA curves. The results showed that there were three stages (dehydration, dramatic weight loss and slow weight loss) during the whole pyrolysis process of samples. The Tmax of marine biomass was significantly lower than two kinds of terrestrial biomass. Zosterae Marinae L. had a relatively high stability of pyrolysis, but floating Enteromorpha clathrata had lowest stability of pyrolysis and a good combustion characteristics. The corresponding activation energy E and frequency factor A were obtained by Coats-Redfern method. It was found that the pyrolysis reaction mechanism functions of three kinds of biomass are different.
Abstract: This paper presents a new type of mechanism and trajectory planning strategy for bipedal walking robot. The newly designed mechanism is able to improve the performance of bipedal walking robot in terms of energy efficiency and weight reduction by utilizing minimum number of actuators. The usage of parallelogram mechanism eliminates the needs of having an extra actuator at the knee joint. This mechanism works together with the joint space trajectory planning in order to realize straight legged walking which cannot be achieved by conventional inverse kinematics trajectory planning due to the singularity. The effectiveness of the proposed strategy is confirmed by computer simulation results.
Abstract: The Cluster Dimension of a network is defined as, which is the minimum cardinality of a subset S of the set of nodes having the property that for any two distinct nodes x and y, there exist the node Si, s2 (need not be distinct) in S such that ld(x,s1) — d(y, s1)1 > 1 and d(x,s2) < d(x,$) for all s E S — {s2}. In this paper, strictly non overlap¬ping clusters are constructed. The concept of LandMarks for Unique Addressing and Clustering (LMUAC) routing scheme is developed. With the help of LMUAC routing scheme, It is shown that path length (upper bound)PLN,d < PLD, Maximum memory space requirement for the networkMSLmuAc(Az) < MSEmuAc < MSH3L < MSric and Maximum Link utilization factor MLLMUAC(i=3) < MLLMUAC(z03) < M Lc
Abstract: Larval rearing and seed production of most of tetra fishes (Family: Characidae) is critical due to their small size larvae and limited numbers of spawning attempts. During the present study the effect of different live foods on growth and survival of neon tetra, Paracheirodon innesi larvae (length 3.1 ± 0.012mm, weight 0.048 ± 0.00015mg) and early fry (length = 6.44 ± 0.025mm, weight = 0.64 ± 0.003mg and 13 days old) was determined in two experiments. Experiment I was conducted for rearing the larvae by using mixed green water and Infusoria whereas, in Experiment II, early fry were fed with mixed zooplankton, decapsulated Artemia cyst and Artemia nauplii. The larvae fed on mixed green water showed significant (p