Abstract: In this paper; we are interested in dynamic modelling of quadrotor while taking into account the high-order nonholonomic constraints as well as the various physical phenomena, which can influence the dynamics of a flying structure. These permit us to introduce a new state-space representation and new control scheme. We present after the development and the synthesis of a stabilizing control laws design based on sliding mode in order to perform best tracking results. It ensures locally asymptotic stability and desired tracking trajectories. Nonlinear observer is then synthesized in order to estimate the unmeasured states and the effects of the external disturbances such as wind and noise. Finally simulation results are also provided in order to illustrate the performances of the proposed controllers.
Abstract: This paper presents modern vibration signalprocessing
techniques for vehicle gearbox fault diagnosis, via the
wavelet analysis and the Squared Envelope (SE) technique. The
wavelet analysis is regarded as a powerful tool for the detection of
sudden changes in non-stationary signals. The Squared Envelope
(SE) technique has been extensively used for rolling bearing
diagnostics. In the present work a scheme of using the Squared
Envelope technique for early detection of gear tooth pit. The pitting
defect is manufactured on the tooth side of a fifth speed gear on the
intermediate shaft of a vehicle gearbox. The objective is to
supplement the current techniques of gearbox fault diagnosis based
on using the raw vibration and ordered signals. The test stand is
equipped with three dynamometers; the input dynamometer serves as
the internal combustion engine, the output dynamometers introduce
the load on the flanges of output joint shafts. The gearbox used for
experimental measurements is the type most commonly used in
modern small to mid-sized passenger cars with transversely mounted
powertrain and front wheel drive; a five-speed gearbox with final
drive gear and front wheel differential. The results show that the
approaches methods are effective for detecting and diagnosing
localized gear faults in early stage under different operation
conditions, and are more sensitive and robust than current gear
diagnostic techniques.
Abstract: Rice bran has been abandoned as agricultural waste for million tonnes per year in Thailand, therefore they have been proposed to be utilized as a rich carbon source in the production of bioethanol. Many toxic compounds are possibly released during the pretreatment of rice bran prior the fermentation process. This study aims to analyze on the availability of toxic compounds and the amount of glucose obtained from 2 different pretreatments using sulfuric acid and mixed cellulase enzymes (without and with delignification/ activated charcoal). The concentration of furfural, 5- hydroxymethyl furfural (5-HMF), levulinic acid, vanillin, syringaldehyde and4-hydroxybenzaldehyde (4-HB) and the percent acetic acid were found to be 0.0517 ± 0.049 mg/L, 0.032 ± 0.06 mg/L, 21074 ± 1685.62 mg/L, 126.265 ± 6.005 mg/L, 2.89 ± 0.30 mg/L, 0.37 ± 0.031mg/L and 0.72% under the pretreatment process without delignification/ activated charcoal treatment and 384.47 ± 99.02 g/L, 0.068 mg/L, 142107.62 ± 8664.6 mg/L, 0.19 mg/L, 5.43 ± 3.29 mg/L, 4.80 ± 0.76 mg/L and 0.254% under the pretreatment process with delignification/ activated charcoal treatment respectively. The presence of high concentration of acetic acid was found to impede the growth of Zymomonas mobilis strain TISTR 551 despite the present of high concentration of levulinic acid. Z. mobilis strain TISTR 551 was found to produce 8.96 ± 4.06 g/L of ethanol under 4 days fementation period in biofilm stage in which represented 40% theoretical yield.
Abstract: The rapid improvement of the microprocessor and network has made it possible for the PC cluster to compete with conventional supercomputers. Lots of high throughput type of applications can be satisfied by using the current desktop PCs, especially for those in PC classrooms, and leave the supercomputers for the demands from large scale high performance parallel computations. This paper presents our development on enabling an automated deployment mechanism for cluster computing to utilize the computing power of PCs such as reside in PC classroom. After well deployment, these PCs can be transformed into a pre-configured cluster computing resource immediately without touching the existing education/training environment installed on these PCs. Thus, the training activities will not be affected by this additional activity to harvest idle computing cycles. The time and manpower required to build and manage a computing platform in geographically distributed PC classrooms also can be reduced by this development.
Abstract: The Malaysian government is promoting
entrepreneurship development skills amongst farmers through informal
courses. These courses will concentrate on teaching managerial skills as
inevitable means for small farms to succeed by making farmers more
creative and innovative. Therefore it is important to assess the effect of
informal agri-entrepreneurial training in developing entrepreneurship
among the farmers in Malaysia. Seven hundred and ninety six farmers
(796) farmers were interviewed via structured questionnaire to define
their opinion on whether the current informal educational and training
establishments are sufficient to teach and develop entrepreneurial
skills. Factor analysis and logic regression analysis were used to
determine the motivating factors and predict their impact on the
development of entrepreneurial skills. The result from the factor analysis
led us to investigate the association between these factors and farmers-
opinions about the development of entrepreneurial skills and traits
through participating in informal entrepreneurship training or education.
The outcome has shown us that the importance of informal training to
promote entrepreneurship among farmers is crucial. The training should
be intensified to encourage farmers to not only focus on the modern
technologies but also on the fundamental changes in their attitude towards
agriculture as a business.
DOA:
KMO: Kaiser- Meyer- Olkin Test
MOA: Ministry of Agriculture
NMP: Ninth Malaysia Plan
NAP: Third National Agricultural Policy (2000-2010)
Abstract: The importance of our country-s communication
system is noticeable when a disaster occurs. The communication
system in our country includes wired and wireless telephone
networks, radio, satellite system and more increasingly internet. Even
though our communication system is most extensive and dependable,
extreme conditions can put a strain on them. Interoperability between
heterogeneous wireless networks can be used to provide efficient
communication for emergency first response. IEEE 802.21 specifies
Media Independent Handover (MIH) services to enhance the mobile
user experience by optimizing handovers between heterogeneous
access networks. This paper presents an algorithm to improve
congestion control in MIH framework. It is analytically shown that
by including time factor in network selection we can optimize
congestion in the network.
Abstract: Vickers indentation is used to measure the hardness
of materials. In this study, numerical simulation of Vickers
indentation experiment was performed for Diamond like Carbon
(DLC) coated materials. DLC coatings were deposited on stainless
steel 304 substrates with Chromium buffer layer using RF Magnetron
and T-shape Filtered Cathodic Vacuum Arc Dual system The
objective of this research is to understand the elastic plastic
properties, stress strain distribution, ring and lateral crack growth and
propagation, penetration depth of indenter and delamination of
coating from substrate with effect of buffer layer thickness. The
effect of Poisson-s ratio of DLC coating was also analyzed. Indenter
penetration is more in coated materials with thin buffer layer as
compared to thicker one, under same conditions. Similarly, the
specimens with thinner buffer layer failed quickly due to high
residual stress as compared to the coated materials with reasonable
thickness of 200nm buffer layer. The simulation results suggested the
optimized thickness of 200 nm among the prepared specimens for
durable and long service.
Abstract: Artificial Neural Network (ANN)s can be modeled for
High Energy Particle analysis with special emphasis on shower core
location. The work describes the use of an ANN based system which
has been configured to predict locations of cores of showers in the
range 1010.5 to 1020.5 eV. The system receives density values as
inputs and generates coordinates of shower events recorded for values
captured by 20 core positions and 80 detectors in an area of 100
meters. Twenty ANNs are trained for the purpose and the positions
of shower events optimized by using cooperative ANN learning. The
results derived with variations of input upto 50% show success rates
in the range of 90s.
Abstract: Distributed Power generation has gained a lot of
attention in recent times due to constraints associated with
conventional power generation and new advancements in DG
technologies .The need to operate the power system economically
and with optimum levels of reliability has further led to an increase
in interest in Distributed Generation. However it is important to place
Distributed Generator on an optimum location so that the purpose of
loss minimization and voltage regulation is dully served on the
feeder. This paper investigates the impact of DG units installation on
electric losses, reliability and voltage profile of distribution networks.
In this paper, our aim would be to find optimal distributed
generation allocation for loss reduction subjected to constraint of
voltage regulation in distribution network. The system is further
analyzed for increased levels of Reliability. Distributed Generator
offers the additional advantage of increase in reliability levels as
suggested by the improvements in various reliability indices such as
SAIDI, CAIDI and AENS. Comparative studies are performed and
related results are addressed. An analytical technique is used in order
to find the optimal location of Distributed Generator. The suggested
technique is programmed under MATLAB software. The results
clearly indicate that DG can reduce the electrical line loss while
simultaneously improving the reliability of the system.
Abstract: In this study, in order to clarify wind-induced
phenomena, especially vertical mixing of density stratification in a
closed water area with floating-leaved plants, we conducted hydraulic
experiments on wind flow characteristics, wind wave characteristics,
entrainment phenomena and turbulent structure by using a wind tunnel
test tank and simulated floating-leaved plants. From the experimental
results of wind flow and wind wave characteristics, we quantified the
impact of the occupancy rate of the plants on their resistance
characteristics. From the experimental results of entrainment
phenomena, we defined the parameter that could explain the
magnitude of mixing between the density stratifications, and
quantified the impact of the occupancy rate on vertical mixing
between stratifications. From the experimental results of the turbulent
structure of the upper layer, we clarified the differences in small-scale
turbulence components at each occupancy rate and quantified the
impact of the occupancy rate on the turbulence characteristics. For a
summary of this study, we theoretically quantified wind-induced
entrainment phenomena in a closed water area with luxuriant growth
of floating-leaved plants. The results indicated that the impact of
luxuriant growth of floating-leaved plants in a closed water body
could be seen in the difference in small-scale fluid characteristics, and
these characteristics could be expressed using the small-scale
turbulent components.
Abstract: This paper presents a design method of self-tuning
Quantitative Feedback Theory (QFT) by using improved deadbeat
control algorithm. QFT is a technique to achieve robust control with
pre-defined specifications whereas deadbeat is an algorithm that
could bring the output to steady state with minimum step size.
Nevertheless, usually there are large peaks in the deadbeat response.
By integrating QFT specifications into deadbeat algorithm, the large
peaks could be tolerated. On the other hand, emerging QFT with
adaptive element will produce a robust controller with wider
coverage of uncertainty. By combining QFT-based deadbeat
algorithm and adaptive element, superior controller that is called selftuning
QFT-based deadbeat controller could be achieved. The output
response that is fast, robust and adaptive is expected. Using a grain
dryer plant model as a pilot case-study, the performance of the
proposed method has been evaluated and analyzed. Grain drying
process is very complex with highly nonlinear behaviour, long delay,
affected by environmental changes and affected by disturbances.
Performance comparisons have been performed between the
proposed self-tuning QFT-based deadbeat, standard QFT and
standard dead-beat controllers. The efficiency of the self-tuning QFTbased
dead-beat controller has been proven from the tests results in
terms of controller’s parameters are updated online, less percentage
of overshoot and settling time especially when there are variations in
the plant.
Abstract: This paper presents a system for tracking the movement of laparoscopic instruments which is based on an orthogonal system of webcams and video image processing. The movements are captured with two webcams placed orthogonally inside of the physical trainer. On the image, the instruments were detected by using color markers placed on the distal tip of each instrument. The 3D position of the tip of the instrument within the work space was obtained by linear triangulation method. Preliminary results showed linearity and repeatability in the motion tracking with a resolution of 0.616 mm in each axis; the accuracy of the system showed a 3D instrument positioning error of 1.009 ± 0.101 mm. This tool is a portable and low-cost alternative to traditional tracking devices and a trustable method for the objective evaluation of the surgeon’s surgical skills.
Abstract: Streaming Applications usually run in parallel or in
series that incrementally transform a stream of input data. It poses a
design challenge to break such an application into distinguishable
blocks and then to map them into independent hardware processing
elements. For this, there is required a generic controller that
automatically maps such a stream of data into independent processing
elements without any dependencies and manual considerations. In
this paper, Kahn Process Networks (KPN) for such streaming
applications is designed and developed that will be mapped on
MPSoC. This is designed in such a way that there is a generic Cbased
compiler that will take the mapping specifications as an input
from the user and then it will automate these design constraints and
automatically generate the synthesized RTL optimized code for
specified application.
Abstract: The presence of cold air with the convergent
topography of the Lut valley over the valley-s sloping terrain can
generate Low Level Jets (LLJ). Moreover, the valley-parallel
pressure gradients and northerly LLJ are produced as a result of the
large-scale processes. In the numerical study the regional MM5
model was run leading to achieve an appropriate dynamical analysis
of flows in the region for summer and winter. The results of this
study show the presence of summer synoptical systems cause the
formation of north-south pressure gradients in the valley which could
be led to the blowing of winds with the velocity more than 14 ms-1
and vulnerable dust and wind storms lasting more than 120 days.
Whereas the presence of cold air masses in the region in winter,
cause the average speed of LLJs decrease. In this time downslope
flows are noticeable in creating the night LLJs.
Abstract: Support vector machines (SVMs) have shown
superior performance compared to other machine learning techniques,
especially in classification problems. Yet one limitation of SVMs is
the lack of an explanation capability which is crucial in some
applications, e.g. in the medical and security domains. In this paper, a
novel approach for eclectic rule-extraction from support vector
machines is presented. This approach utilizes the knowledge acquired
by the SVM and represented in its support vectors as well as the
parameters associated with them. The approach includes three stages;
training, propositional rule-extraction and rule quality evaluation.
Results from four different experiments have demonstrated the value
of the approach for extracting comprehensible rules of high accuracy
and fidelity.
Abstract: An integrated Artificial Neural Network- Particle Swarm Optimization (PSO) is presented for analyzing global electricity consumption. To aim this purpose, following steps are done: STEP 1: in the first step, PSO is applied in order to determine world-s oil, natural gas, coal and primary energy demand equations based on socio-economic indicators. World-s population, Gross domestic product (GDP), oil trade movement and natural gas trade movement are used as socio-economic indicators in this study. For each socio-economic indicator, a feed-forward back propagation artificial neural network is trained and projected for future time domain. STEP 2: in the second step, global electricity consumption is projected based on the oil, natural gas, coal and primary energy consumption using PSO. global electricity consumption is forecasted up to year 2040.
Abstract: Vision based tracking problem is solved through a
combination of optical flow, MACH filter and log r-θ mapping.
Optical flow is used for detecting regions of movement in video
frames acquired under variable lighting conditions. The region of
movement is segmented and then searched for the target. A template
is used for target recognition on the segmented regions for detecting
the region of interest. The template is trained offline on a sequence of
target images that are created using the MACH filter and log r-θ
mapping. The template is applied on areas of movement in
successive frames and strong correlation is seen for in-class targets.
Correlation peaks above a certain threshold indicate the presence of
target and the target is tracked over successive frames.
Abstract: Most paddy rice fields in East Asia are small parcels,
and the weather conditions during the growing season are usually
cloudy. FORMOSAT-2 multi-spectral images have an 8-meter
resolution and one-day recurrence, ideal for mapping paddy rice fields
in East Asia. To map rice fields, this study first determined the
transplanting and the most active tillering stages of paddy rice and
then used multi-temporal images to distinguish different growing
characteristics between paddy rice and other ground covers. The
unsupervised ISODATA (iterative self-organizing data analysis
techniques) and supervised maximum likelihood were both used to
discriminate paddy rice fields, with training areas automatically
derived from ten-year cultivation parcels in Taiwan. Besides original
bands in multi-spectral images, we also generated normalized
difference vegetation index and experimented with object-based
pre-classification and post-classification. This paper discusses results
of different image classification methods in an attempt to find a
precise and automatic solution to mapping paddy rice in Taiwan.
Abstract: An electronic portal image device (EPID) has become
a method of patient-specific IMRT dose verification for radiotherapy.
Research studies have focused on pre and post-treatment verification,
however, there are currently no interventional procedures using EPID
dosimetry that measure the dose in real time as a mechanism to
ensure that overdoses do not occur and underdoses are detected as
soon as is practically possible. As a result, an EPID-based real time
dose verification system for dynamic IMRT was developed and was
implemented with MATLAB/Simulink. The EPID image acquisition
was set to continuous acquisition mode at 1.4 images per second. The
system defined the time constraint gap, or execution gap at the image
acquisition time, so that every calculation must be completed before
the next image capture is completed. In addition, the
Abstract: Mobile Ad hoc Networks is an autonomous system of
mobile nodes connected by multi-hop wireless links without
centralized infrastructure support. As mobile communication gains
popularity, the need for suitable ad hoc routing protocols will
continue to grow. Efficient dynamic routing is an important research
challenge in such a network. Bandwidth constrained mobile devices
use on-demand approach in their routing protocols because of its
effectiveness and efficiency. Many researchers have conducted
numerous simulations for comparing the performance of these
protocols under varying conditions and constraints. Most of them are
not aware of MAC Protocols, which will impact the relative
performance of routing protocols considered in different network
scenarios. In this paper we investigate the choice of MAC protocols
affects the relative performance of ad hoc routing protocols under
different scenarios. We have evaluated the performance of these
protocols using NS2 simulations. Our results show that the
performance of routing protocols of ad hoc networks will suffer when
run over different MAC Layer protocols.