Abstract: In this paper, a Cooperative Multi-robot for Carrying
Targets (CMCT) algorithm is proposed. The multi-robot team
consists of three robots, one is a supervisor and the others are
workers for carrying boxes in a store of 100×100 m2. Each robot has
a self recharging mechanism. The CMCT minimizes robot-s worked
time for carrying many boxes during day by working in parallel. That
is, the supervisor detects the required variables in the same time
another robots work with previous variables. It works with
straightforward mechanical models by using simple cosine laws. It
detects the robot-s shortest path for reaching the target position
avoiding obstacles by using a proposed CMCT path planning
(CMCT-PP) algorithm. It prevents the collision between robots
during moving. The robots interact in an ad hoc wireless network.
Simulation results show that the proposed system that consists of
CMCT algorithm and its accomplished CMCT-PP algorithm
achieves a high improvement in time and distance while performing
the required tasks over the already existed algorithms.
Abstract: In the past few years there is a change in the view of high performance applications and parallel computing. Initially such applications were targeted towards dedicated parallel machines. Recently trend is changing towards building meta-applications composed of several modules that exploit heterogeneous platforms and employ hybrid forms of parallelism. The aim of this paper is to propose a model of virtual parallel computing. Virtual parallel computing system provides a flexible object oriented software framework that makes it easy for programmers to write various parallel applications.
Abstract: The utility of expert system generators has been
widely recognized in many applications. Several generators based on
concept of the paradigm object, have been recently proposed. The
generator of oriented object expert system (GSEOO) offers
languages that are often complex and difficult to use. We propose in
this paper an extension of the expert system generator, JESS, which
permits a friendly use of this expert system. The new tool, called
VISUAL JESS, bring two main improvements to JESS. The first
improvement concerns the easiness of its utilization while giving
back transparency to the syntax and semantic aspects of the JESS
programming language. The second improvement permits an easy
access and modification of the JESS knowledge basis. The
implementation of VISUAL JESS is made so that it is extensible and
portable.
Abstract: This paper is aimed to study the roles of leadership and innovation in the development of local people based ecotourism
services. The survey is conducted in Candirejo village, Borobudur District, Magelang Regency. The study of a descriptive approach is employed to identify people's behavior in ecotourism services. The results showed that ecotourism services have developed and provided benefits to the people. The roles of leadership and innovation interact positively with a cooperative to organize an ecotourism services management. The leadership is able to identify substances, to do the vision and missions of environmental and cultural conservation. The innovation provides alternative development efforts and increases the added value of ecotourism. The cooperative management was able to support a process to realize the goals of ecotourism, to build participation and communication, and to perform organizational learning. The phenomenon of the leadership in the Candirejo ecotourism enriches the studies of the ecotourism management. During this time, the ecotourism management is always associated
with the standard management of national park. The ecotourism management of Candirejo is considered successful even outside the national park management.
Abstract: EPA (Ethernet for Plant Automation) resolves the nondeterministic problem of standard Ethernet and accomplishes real-time communication by means of micro-segment topology and deterministic scheduling mechanism. This paper studies the real-time performance of EPA periodic data transmission from theoretical and experimental perspective. By analyzing information transmission characteristics and EPA deterministic scheduling mechanism, 5 indicators including delivery time, time synchronization accuracy, data-sending time offset accuracy, utilization percentage of configured timeslice and non-RTE bandwidth that can be used to specify the real-time performance of EPA periodic data transmission are presented and investigated. On this basis, the test principles and test methods of the indicators are respectively studied and some formulas for real-time performance of EPA system are derived. Furthermore, an experiment platform is developed to test the indicators of EPA periodic data transmission in a micro-segment. According to the analysis and the experiment, the methods to improve the real-time performance of EPA periodic data transmission including optimizing network structure, studying self-adaptive adjustment method of timeslice and providing data-sending time offset accuracy for configuration are proposed.
Abstract: The goal of data mining algorithms is to discover
useful information embedded in large databases. One of the most
important data mining problems is discovery of frequently occurring
patterns in sequential data. In a multidimensional sequence each
event depends on more than one dimension. The search space is quite
large and the serial algorithms are not scalable for very large
datasets. To address this, it is necessary to study scalable parallel
implementations of sequence mining algorithms.
In this paper, we present a model for multidimensional sequence
and describe a parallel algorithm based on data parallelism.
Simulation experiments show good load balancing and scalable and
acceptable speedup over different processors and problem sizes and
demonstrate that our approach can works efficiently in a real parallel
computing environment.
Abstract: The main aim of the presented experiments is to
improve behaviour of sandwich structures under dynamic loading,
such as crash or explosion. Several cellular materials are widely used
as core of the sandwich structures and their properties influence
the response of the entire element under impact load. To optimize
their performance requires the characterisation of the core material
behaviour at high strain rates and identification of the underlying
mechanism. This work presents the study of high strain-rate
characteristics of a specific porous lightweight blast energy absorbing
foam using a Split Hopkinson Pressure Bar (SHPB) technique
adapted to perform tests on low strength materials. Two different
velocities, 15 and 30 m.s-1 were used to determine the strain
sensitivity of the material. Foams were designed using two types of
porous lightweight spherical raw materials with diameters of 30-
100 *m, combined with polymer matrix. Cylindrical specimens with
diameter of 15 mm and length of 7 mm were prepared and loaded
using a Split Hopkinson Pressure Bar apparatus to assess the relation
between the composition of the material and its shock wave
attenuation capacity.
Abstract: One of the main and responsible units of Sulzer
projectile loom is picking mechanism. It is specifically designed to
accelerate projectile to speed of 25 m / s. Initial speed projectile of
Sulzer projectile loom is independent of speed loom and determined
the potential energy torsion rod. This paper investigates the dynamics
picking mechanism of Sulzer projectile loom during its discharge. A
result of calculation model, we obtain the law of motion lever of
picking mechanism during its discharge. Construction of dynamic
model the picking mechanism of Sulzer projectile loom on software
complex SimulationX can make calculations for different thickness
of torsion rods taking into account the backlashes in the connections,
the dissipative forces and resistance forces
Abstract: We present our ongoing work on the development
of a new quadrotor aerial vehicle which has a tilt-wing
mechanism. The vehicle is capable of take-off/landing in vertical flight mode (VTOL) and flying over long distances in horizontal flight mode. Full dynamic model of the vehicle is derived using
Newton-Euler formulation. Linear and nonlinear controllers for
the stabilization of attitude of the vehicle and control of its
altitude have been designed and implemented via simulations. In particular, an LQR controller has been shown to be quite
effective in the vertical flight mode for all possible yaw angles. A sliding mode controller (SMC) with recursive nature has also
been proposed to stabilize the vehicle-s attitude and altitude. Simulation results show that proposed controllers provide
satisfactory performance in achieving desired maneuvers.
Abstract: Transmission control protocol (TCP) Vegas detects
network congestion in the early stage and successfully prevents
periodic packet loss that usually occurs in TCP Reno. It has been
demonstrated that TCP Vegas outperforms TCP Reno in many
aspects. However, TCP Vegas suffers several problems that affect its
congestion avoidance mechanism. One of the most important
weaknesses in TCP Vegas is that alpha and beta depend on a good
expected throughput estimate, which as we have seen, depends on a
good minimum RTT estimate. In order to make the system more
robust alpha and beta must be made responsive to network conditions
(they are currently chosen statically). This paper proposes a modified
Vegas algorithm, which can be adjusted to present good performance
compared to other transmission control protocols (TCPs). In order to
do this, we use PSO algorithm to tune alpha and beta. The simulation
results validate the advantages of the proposed algorithm in term of
performance.
Abstract: Aspect of visual perception occupies a central position
in shaping the physical structure of a city. This paper discusses the
visual characteristics of utopian cities and their impact on the shaping
of real urban structures. Utopian examples of cities will not be
discussed in terms of social and sociological conditions, but rather
the emphasis is on urban utopias and ideal cities that have achieved
or have had potential impact on the shape of the physical structure of
Nikšić. It is a Renaissance-Baroque period with a touch of classicism.
The paper’s emphasis is on the physical dimension, not excluding the
importance of social equilibrium, studies of which are dating back to
Aristotle, Plato, Thomas More, Robert Owen, Tommaso Campanella
and others. The emphasis is on urban utopias and their impact on the
development of sustainable physical structure of a real city in the
context of visual perception. In the case of Nikšić, this paper
identifies the common features of a real city and a utopian city, as
well as criteria for sustainable urban development in the context of
visual achievement.
Abstract: The report focuses on such an important indicator of the nature and direction of development of ethnic and cultural processes in the Republic of Kazakhstan, as ethno linguistic situation. It is shown that, in essence, on the one hand, expresses the degree of the actual propagation and the level of use of the languages of the various ethnic communities. On the other hand, reflects the important patterns, trends and prospects of ethno-cultural and ethnodemographic processes in the Republic. It is important to note that the ethno linguistic situation in different regions of Kazakhstan, due to its more dynamic and much more difficult to demonstrate a much greater variety of options when compared with the ethnic situation in the country. For the two major ethnic groups of the republic – Kazakh and Russian language ethno differentiating retains its value, while for the other ethnic groups observed decline in the importance of this indicator. As you know, the language of international communication in the country is Russian. As the censuses of population, the Russian language in many areas of Northern, Central and Eastern Kazakhstan becomes a means of ethno linguistic development for most of the non-Russian population. This is most clearly illustrated by the Germans, and the Slavic ethnic groups. In this case, the Russian language is not just a means of international communication for a number of ethnic groups, and ethnic groups, it becomes a factor of ethnic self-expression. The value of the Kazakh language as their mother tongue for the other groups of the population is small. More clearly it can be traced only to the Turkic-speaking population of the republic – Uzbeks, Uighurs, Tatars, Turks, etc. The state Kazakh language is a means of international communication in the Western and Southern Kazakhstan, with a predominance of the Kazakh population. The report shows that the most important factor in the development of ethno-linguistic and ethno-cultural processes is bilingualism. Comparative analysis of materials census shows, first, on the increase of the proportion of bilingual population among Kazakhs and Russian, and second, to reduce the proportion of bilingual population of other ethnic groups living in Kazakhstan, and third, a higher proportion bilingual population among residents than rural residents, regardless of their ethnicity. Bilingualism is mainly of a "national Kazakh", "national Russian" or "Kazakh-national" or "Russian-national" character. The President N.A. Nazarbayev said that the Kazakh language is the most important factor in the consolidation of the people of Kazakhstan. He therefore called on government and other state and local representative bodies fully develop the state language, to create all the necessary organizational, material and technical conditions for free and open learning the state language by all citizens of the Republic of Kazakhstan.
Abstract: Experimental study on the influence of fibre content
on crack behaviour and propagation in synthetic-fibre reinforced
beams has been reported in this paper. The tensile behaviour of
metallic fibre concrete is evaluated in terms of residual flexural
tensile strength values determined from the load-crack mouth
opening displacement curve or load-deflection curve obtained by
applying a centre-point load on a simply supported notched prism.
The results achieved demonstrate that an increase in fibre content has
an almost negligible effect on compressive and tensile splitting
properties, causes a marginal increment in flexural tensile strength
and increasesthe Re3 value.
Abstract: There is an ongoing controversy in the literature related
to the biological effects of weak, low frequency electromagnetic
fields. The physical arguments and interpretation of the experimental
evidence are inconsistent, where some physical arguments and
experimental demonstrations tend to reject the likelihood of any
effect of the fields at extremely low level. The problem arises of
explaining, how the low-energy influences of weak magnetic fields
can compete with the thermal and electrical noise of cells at normal
temperature using the theoretical studies. The magnetoreception in
animals involve radical pair mechanism. The same mechanism has
been shown to be involved in the circadian rhythm synchronization in
mammals. These reactions can be influenced by the weak magnetic
fields. Hence, it is postulated the biological clock can be affected
by weak magnetic fields and these disruptions to the rhythm can
cause adverse biological effects. In this paper, likelihood of altering
the biological clock via the radical pair mechanism is analyzed to
simplify these studies of controversy.
Abstract: In this paper, a fragile watermarking scheme is proposed for color image specified object-s authentication. The color image is first transformed from RGB to YST color space, suitable for watermarking the color media. The T channel corresponds to the chrominance component of a color image andYS ÔèÑ T , therefore selected for embedding the watermark. The T channel is first divided into 2×2 non-overlapping blocks and the two LSBs are set to zero. The object that is to be authenticated is also divided into 2×2 nonoverlapping blocks and each block-s intensity mean is computed followed by eight bit encoding. The generated watermark is then embedded into T channel randomly selected 2×2 block-s LSBs using 2D-Torus Automorphism. Selection of block size is paramount for exact localization and recovery of work. The proposed scheme is blind, efficient and secure with ability to detect and locate even minor tampering applied to the image with full recovery of original work. The quality of watermarked media is quite high both subjectively and objectively. The technique is suitable for class of images with format such as gif, tif or bitmap.
Abstract: all of religions free towards society in Kazakhstan. Considering that Islam is more widespread religion in the region, Islamic industry is developing sector of Economy. There are some new sectors of Halal (Islamic) industry, which have importance for state developing on the whole. One of the youngest sectors of Halal industry is Islamic tourism, which became an object of disputes and led to dilemma, such as Islamic tourism is a result of a Religious revival and Islamic tourism is a new trend of Tourism. The paper was written under the research project “Islam in modern Kazakhstan: the nature and outcome of the religious revival".
Abstract: On-line handwritten scripts are usually dealt with pen tip traces from pen-down to pen-up positions. Time evaluation of the pen coordinates is also considered along with trajectory information. However, the data obtained needs a lot of preprocessing including filtering, smoothing, slant removing and size normalization before recognition process. Instead of doing such lengthy preprocessing, this paper presents a simple approach to extract the useful character information. This work evaluates the use of the counter- propagation neural network (CPN) and presents feature extraction mechanism in full detail to work with on-line handwriting recognition. The obtained recognition rates were 60% to 94% using the CPN for different sets of character samples. This paper also describes a performance study in which a recognition mechanism with multiple thresholds is evaluated for counter-propagation architecture. The results indicate that the application of multiple thresholds has significant effect on recognition mechanism. The method is applicable for off-line character recognition as well. The technique is tested for upper-case English alphabets for a number of different styles from different peoples.
Abstract: This paper mainly proposes an efficient modified
particle swarm optimization (MPSO) method, to identify a slidercrank
mechanism driven by a field-oriented PM synchronous motor.
In system identification, we adopt the MPSO method to find
parameters of the slider-crank mechanism. This new algorithm is
added with “distance" term in the traditional PSO-s fitness function to
avoid converging to a local optimum. It is found that the comparisons
of numerical simulations and experimental results prove that the
MPSO identification method for the slider-crank mechanism is
feasible.
Abstract: Circular tubes have been widely used as structural
members in engineering application. Therefore, its collapse behavior
has been studied for many decades, focusing on its energy absorption
characteristics. In order to predict the collapse behavior of members,
one could rely on the use of finite element codes or experiments.
These tools are helpful and high accuracy but costly and require
extensive running time. Therefore, an approximating model of tubes
collapse mechanism is an alternative for early step of design. This
paper is also aimed to develop a closed-form solution of thin-walled
circular tube subjected to bending. It has extended the Elchalakani et
al.-s model (Int. J. Mech. Sci.2002; 44:1117-1143) to include the
rate of energy dissipation of rolling hinge in the circumferential
direction. The 3-D geometrical collapse mechanism was analyzed by
adding the oblique hinge lines along the longitudinal tube within the
length of plastically deforming zone. The model was based on the
principal of energy rate conservation. Therefore, the rates of internal
energy dissipation were calculated for each hinge lines which are
defined in term of velocity field. Inextensional deformation and
perfect plastic material behavior was assumed in the derivation of
deformation energy rate. The analytical result was compared with
experimental result. The experiment was conducted with a number of
tubes having various D/t ratios. Good agreement between analytical
and experiment was achieved.
Abstract: The blood ducts must be occluded to avoid loss of
blood from vessels in laparoscopic surgeries. This paper presents a
locking mechanism to be used in a ligation laparoscopic procedure
(LigLAP I), as an alternative solution for a stapling procedure.
Currently, stapling devices are being used to occlude vessels. Using
these devices may result in some problems, including injury of bile
duct, taking up a great deal of space behind the vessel, and bile leak.
In this new procedure, a two-layer suture occludes a vessel. A
locking mechanism is also required to hold the suture. Since there is
a limited space at the device tip, a Shape Memory Alloy (SMA)
actuator is used in this mechanism. Suitability for cleanroom
applications, small size, and silent performance are among the
advantages of SMA actuators in biomedical applications. An
experimental study is conducted to examine the function of the
locking mechanism. To set up the experiment, a prototype of a
locking mechanism is built using nitinol, which is a nickel-titanium
shape memory alloy. The locking mechanism successfully locks a
polymer suture for all runs of the experiment. In addition, the effects
of various surface materials on the applied pulling forces are studied.
Various materials are mounted at the mechanism tip to compare the
maximum pulling forces applied to the suture for each material. The
results show that the various surface materials on the device tip
provide large differences in the applied pulling forces.