Abstract: The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems, the stiffness of the internal parallel modules, representing 2 DOF joints in the serial robotic chains, is controlled by co-activation of opposing redundant actuator groups in the null-space of the module Jacobian, without influencing the actual robot position. The decoupled position/stiffness control allows the realization of variable joint stiffness according to different force-displacement relationships. The variable joint stiffness, as well as limited pneumatic muscle/bellows force ability, ensures internal system safety that is crucial for development of human-friendly robots intended for human-robot collaboration. The initial experiments with the system prototype demonstrate the capabilities of independently, simultaneously controlling both joint (Cartesian) motion and joint stiffness. The paper also presents the possible industrial applications of snake-like robots built using the new modules.
Abstract: Among various HLM techniques, the Multivariate Hierarchical Linear Model (MHLM) is desirable to use, particularly when multivariate criterion variables are collected and the covariance structure has information valuable for data analysis. In order to reflect prior information or to obtain stable results when the sample size and the number of groups are not sufficiently large, the Bayes method has often been employed in hierarchical data analysis. In these cases, although the Markov Chain Monte Carlo (MCMC) method is a rather powerful tool for parameter estimation, Procedures regarding MCMC have not been formulated for MHLM. For this reason, this research presents concrete procedures for parameter estimation through the use of the Gibbs samplers. Lastly, several future topics for the use of MCMC approach for HLM is discussed.
Abstract: Polyurethane foams (PUF) has been prepared from
vegetable; soybean based polyols. They were characterized into
flexible and semi rigid polyurethane foam. This work is directed to
production of flexible polyurethane foams by a process involving the
reaction of mixture of 2,4- and 2,6-Toluene di Isocyanate isomers,
with portion of to blends of soy polyols with petroleum polyol in the
presence of other ingredients such as blowing agents, silicone
surfactants and accelerating agents. Additon of chain extender
improves the property then further decreases the properties on further
addition of the same. The objective of this work was to study the
effect of chain extender and role of phosphoric acid catalyst to the
final properties and correlate the morphology image with mechanical
properties of these foams.
Abstract: Next Generation Wireless Network (NGWN) is
expected to be a heterogeneous network which integrates all different
Radio Access Technologies (RATs) through a common platform. A
major challenge is how to allocate users to the most suitable RAT for
them. An optimized solution can lead to maximize the efficient use
of radio resources, achieve better performance for service providers
and provide Quality of Service (QoS) with low costs to users.
Currently, Radio Resource Management (RRM) is implemented
efficiently for the RAT that it was developed. However, it is not
suitable for a heterogeneous network. Common RRM (CRRM) was
proposed to manage radio resource utilization in the heterogeneous
network. This paper presents a user level Markov model for a three
co-located RAT networks. The load-balancing based and service
based CRRM algorithms have been studied using the presented
Markov model. A comparison for the performance of load-balancing
based and service based CRRM algorithms is studied in terms of
traffic distribution, new call blocking probability, vertical handover
(VHO) call dropping probability and throughput.
Abstract: This research studied about green logistics and the
expected benefit that organization gotten when adapted to green
logistics also the organization concerned about the important activity
in green logistics to apply in implementation from study was found
that the benefit of green logistics that organization was gotten by
logistics management which was the increased efficiency process of
management the product from producer to customer all of reduce
production cost, increased value added save energy and prevented
environment together
From study was found that the organization had green logistics to
apply in logistics activities in supply chain since downstream till
upstream to prevent environment as follow 1). Purchasing process,
trade facilitation enhance such as linking of information technology
during business to business (B2B business). 2). Productions process
improved by business logistics improvement 3). Warehouse
management process such as recycled packaging, moving goods in to
warehouse, transportation goods and inside receiving and delivery
products plan.
Abstract: A product development for green logistics model using
the fuzzy analytic network process method is presented for evaluating
the relationships among the product design, the manufacturing
activities, and the green supply chain. In the product development
stage, there can be alternative ways to design the detailed components
to satisfy the design concept and product requirement. In different
design alternative cases, the manufacturing activities can be different.
In addition, the manufacturing activities can affect the green supply
chain of the components and product. In this research, a fuzzy analytic
network process evaluation model is presented for evaluating the
criteria in product design, manufacturing activities, and green supply
chain. The comparison matrices for evaluating the criteria among the
three groups are established. The total relational values between the
three groups represent the relationships and effects. In application, the
total relational values can be used to evaluate the design alternative
cases for decision-making to select a suitable design case and the green
supply chain. In this presentation, an example product is illustrated. It
shows that the model is useful for integrated evaluation of design and
manufacturing and green supply chain for the purpose of product
development for green logistics.
Abstract: To motivate users to adopt and use information
systems effectively, the nature of motivation should be carefully
investigated. People are usually motivated within ongoing processes
which include a chain of states such as perception, stimulation,
motivation, actions and reactions and finally, satisfaction. This study
assumes that the relevant motivation processes should be executed in
a proper and continuous manner to be able to persistently motivate
and re-motivate people in organizational settings and towards
information systems. On this basis, the study attempts to propose
possible relationships between this process-nature view of
motivation in terms of the common chain of states and the nearly
unique properties of information systems as is perceived by users in
the sense of a knowledgeable and authoritative entity. In the
conclusion section, some guidelines for practitioners are suggested to
ease their tasks for motivating people to adopt and use information
systems.
Abstract: In most study fields, a phenomenon may not be
studied directly but it will be examined indirectly by phenomenon
model. Making an accurate model of system, there is attained new
information from modeled phenomenon without any charge, danger,
etc... there have been developed more solutions for describing and
analyzing the recent complicated systems but few of them have
analyzed the performance in the range of system description. Petri
nets are of limited solutions which may make such union. Petri nets
are being applied in problems related to modeling and designing the
systems. Theory of Petri nets allow a system to model
mathematically by a Petri net and analyzing the Petri net can then
determine main information of modeled system-s structure and
dynamic. This information can be used for assessing the performance
of systems and suggesting corrections in the system. In this paper,
beside the introduction of Petri nets, a real case study will be studied
in order to show the application of generalized stochastic Petri nets in
modeling a resource sharing production system and evaluating the
efficiency of its machines and robots. The modeling tool used here is
SHARP software which calculates specific indicators helping to
make decision.
Abstract: A logic model for analyzing complex systems- stability
is very useful to many areas of sciences. In the real world, we are
enlightened from some natural phenomena such as “biosphere", “food
chain", “ecological balance" etc. By research and practice, and taking
advantage of the orthogonality and symmetry defined by the theory of
multilateral matrices, we put forward a logic analysis model of
stability of complex systems with three relations, and prove it by
means of mathematics. This logic model is usually successful in
analyzing stability of a complex system. The structure of the logic
model is not only clear and simple, but also can be easily used to
research and solve many stability problems of complex systems. As an
application, some examples are given.
Abstract: In today-s competitive global business environment,
the concept of supply chain management (SCM) continues to become
increasingly market-oriented, shifting the primary driver of the value
chain from supply to demand. Recent recommendations encourage
researchers to focus investigations on the supply chain process
integration (SCPI) capabilities that integrate a focal firm with its
network of suppliers and business customers to create value for it.
However, theoretical and empirical researches pertaining to the
antecedents and consequences of a focal firm-s SCPI capabilities have
been limited and piecemeal. The purpose of this study is to investigate
the critical determinants and consequences of a focal firm-s SCPI
capabilities. We test our proposed research framework using a sample
of 139 sales managers of manufacturing industries in Taiwan, our
research findings show that (1) both perceived business customer-s
power and focal firm-s market-oriented culture positively influences a
focal firm-s SCPI capabilities, and (2) SCPI capabilities positively
influence a focal firm-s SCM performance, both operational and
strategic benefits. Implications for practitioners and researchers and
suggestions for future research are also addressed in this study.
Abstract: Procurement is an important component in the field of
operating resource management and e-procurement is the golden key
to optimizing the supply chains system. Global firms are optimistic
on the level of savings that can be achieved through full
implementation of e-procurement strategies. E-procurement is an
Internet-based business process for obtaining materials and services
and managing their inflow into the organization. In this paper, the
subjects of supply chains and e-procurement and its benefits to
organizations have been studied. Also, e-procurement in construction
and its drivers and barriers have been discussed and a framework of
supplier selection in an e-procurement environment has been
demonstrated. This paper also has addressed critical success factors
in adopting e-procurement in supply chains.
Abstract: The main objective of this article is to present the semi-active vibration control using an electro-rheological fluid embedded sandwich structure for a cantilever beam. ER fluid is a smart material, which cause the suspended particles polarize and connect each other to form chain. The stiffness and damping coefficients of the ER fluid can be changed in 10 micro seconds; therefore, ERF is suitable to become the material embedded in the tunable vibration absorber to become a smart absorber. For the ERF smart material embedded structure, the fuzzy control law depends on the experimental expert database and the proposed self-tuning strategy. The electric field is controlled by a CRIO embedded system to implement the real application. This study investigates the different performances using the Type-1 fuzzy and interval Type-2 fuzzy controllers. The Interval type-2 fuzzy control is used to improve the modeling uncertainties for this ERF embedded shock absorber. The self-tuning vibration controllers using Type-1 and Interval Type-2 fuzzy law are implemented to the shock absorber system. Based on the resulting performance, Internal Type-2 fuzzy is better than the traditional Type-1 fuzzy control for this vibration control system.
Abstract: Since polymerase chain reaction (PCR) has been
invented, it has emerged as a powerful tool in genetic analysis. The
PCR products are closely linked with thermal cycles. Therefore, to
reduce the reaction time and make temperature distribution uniform in
the reaction chamber, a novel oscillatory thermal cycler is designed.
The sample is placed in a fixed chamber, and three constant isothermal
zones are established and lined in the system. The sample is oscillated
and contacted with three different isothermal zones to complete
thermal cycles. This study presents the design of the geometric
characteristics of the chamber. The commercial software
CFD-ACE+TM is utilized to investigate the influences of various
materials, heating times, chamber volumes, and moving speed of the
chamber on the temperature distributions inside the chamber. The
chamber moves at a specific velocity and the boundary conditions
with time variations are related to the moving speed. Whereas the
chamber moves, the boundary is specified at the conditions of the
convection or the uniform temperature. The user subroutines compiled
by the FORTRAN language are used to make the numerical results
realistically. Results show that the reaction chamber with a rectangular
prism is heated on six faces; the effects of various moving speeds of
the chamber on the temperature distributions are examined. Regarding
to the temperature profiles and the standard deviation of the
temperature at the Y-cut cross section, the non-uniform temperature
inside chamber is found as the moving speed is larger than 0.01 m/s.
By reducing the heating faces to four, the standard deviation of the
temperature of the reaction chamber is under 1.4×10-3K with the range
of velocities between 0.0001 m/s and 1 m/s. The nature convective
boundary conditions are set at all boundaries while the chamber moves
between two heaters, the effects of various moving velocities of the
chamber on the temperature distributions are negligible at the assigned
time duration.
Abstract: Transport and logistics are the lifeblood of societies.
There is a strong correlation between overall growth in economic
activity and growth of transport. The movement of people and goods
has the potential for creating wealth and prosperity, therefore the
state of transportation infrastructure and especially the condition of
road networks is often a governmental priority. The design, building
and maintenance of national roads constitute a substantial share of
government budgets. Taking into account the magnitude and
importance of these investments, the expedience, efficiency and
sustainability of these projects are of great public interest. This paper
provides an overview of supply chain management principles applied
to road construction. In addition, road construction performance
measurement systems and ICT solutions are discussed. Road
construction in Estonia is analyzed. The authors propose the
development of a national performance measurement system for road
construction.
Abstract: Quantitative trait loci (QTL) experiments have yielded
important biological and biochemical information necessary for
understanding the relationship between genetic markers and
quantitative traits. For many years, most QTL algorithms only
allowed one observation per genotype. Recently, there has been an
increasing demand for QTL algorithms that can accommodate more
than one observation per genotypic distribution. The Bayesian
hierarchical model is very flexible and can easily incorporate this
information into the model. Herein a methodology is presented that
uses a Bayesian hierarchical model to capture the complexity of the
data. Furthermore, the Markov chain Monte Carlo model composition
(MC3) algorithm is used to search and identify important markers. An
extensive simulation study illustrates that the method captures the
true QTL, even under nonnormal noise and up to 6 QTL.
Abstract: Data clustering is an important data exploration technique
with many applications in data mining. We present an enhanced
version of the well known single link clustering algorithm. We will
refer to this algorithm as DCBOR. The proposed algorithm alleviates
the chain effect by removing the outliers from the given dataset.
So this algorithm provides outlier detection and data clustering
simultaneously. This algorithm does not need to update the distance
matrix, since the algorithm depends on merging the most k-nearest
objects in one step and the cluster continues grow as long as possible
under specified condition. So the algorithm consists of two phases;
at the first phase, it removes the outliers from the input dataset. At
the second phase, it performs the clustering process. This algorithm
discovers clusters of different shapes, sizes, densities and requires
only one input parameter; this parameter represents a threshold for
outlier points. The value of the input parameter is ranging from 0 to
1. The algorithm supports the user in determining an appropriate
value for it. We have tested this algorithm on different datasets
contain outlier and connecting clusters by chain of density points,
and the algorithm discovers the correct clusters. The results of
our experiments demonstrate the effectiveness and the efficiency of
DCBOR.
Abstract: The main aim is to perform mutational analysis of CTLA4 gene Exon 1 in SLE patients. A total of 61 SLE patients fulfilling “American College of Rheumatology (ACR) criteria" and 61 controls were enrolled in this study. The region of CTLA4 gene exon 1 was amplified by using Step-down PCR technique. Extracted DNA of band 354 bp was sequenced to analyze mutations in the exon-1 of CTLA-4 gene. Further, protein sequences were identified from nucleotide sequences of CTLA4 Exon 1 by using Expasy software and through Blast P software it was found that CTLA4 protein sequences of Pakistani SLE patients were similar to that of Chinese SLE population. No variations were found after patients sequences were compared with that of the control sequence. Furthermore it was found that CTLA4 protein sequences of Pakistani SLE patients were similar to that of Chinese SLE population. Thus CTLA4 gene may not be responsible for an autoimmune disease SLE.
Abstract: The study investigated the hydrophilic to hydrophobic
transition of modified polyacrylamide hydrogel with the inclusion of
N-isopropylacrylamide (NIAM). The modification was done by
mimicking micellar polymerization, which resulted in better
arrangement of NIAM chains in the polyacrylamide network. The
degree of NIAM arrangement is described by NH number. The
hydrophilic to hydrophobic transition was measured through the
partition coefficient, K, of Orange II and Methylene Blue in hydrogel
and in water. These dyes were chosen as a model for solutes with
different degree of hydrophobicity. The study showed that the
hydrogel with higher NH values resulted in better solubility of both
dyes. Moreover, in temperature above the lower critical solution
temperature (LCST) of Poly(N-isopropylacrylamide) (PNIAM)also
caused the collapse of NIPAM chains which results in a more
hydrophobic environment that increases the solubility of Methylene
Blue and decreases the solubility of Orange II in the hydrogels with
NIPAM present.
Abstract: A computational platform is presented in this
contribution. It has been designed as a virtual laboratory to be used
for exploring optimization algorithms in biological problems. This
platform is built on a blackboard-based agent architecture. As a test
case, the version of the platform presented here is devoted to the
study of protein folding, initially with a bead-like description of the
chain and with the widely used model of hydrophobic and polar
residues (HP model). Some details of the platform design are
presented along with its capabilities and also are revised some
explorations of the protein folding problems with different types of
discrete space. It is also shown the capability of the platform to
incorporate specific tools for the structural analysis of the runs in
order to understand and improve the optimization process.
Accordingly, the results obtained demonstrate that the ensemble of
computational tools into a single platform is worthwhile by itself,
since experiments developed on it can be designed to fulfill different
levels of information in a self-consistent fashion. By now, it is being
explored how an experiment design can be useful to create a
computational agent to be included within the platform. These
inclusions of designed agents –or software pieces– are useful for the
better accomplishment of the tasks to be developed by the platform.
Clearly, while the number of agents increases the new version of the
virtual laboratory thus enhances in robustness and functionality.
Abstract: Bean common mosaic necrosis virus (BCMNV) is a
potyvirus with a worldwide distribution. This virus causes serious
economic losses in Iran in many leguminoses. During 20008,
samples were collected from soybeans fields in Tehran Province.
Four isolates (S1, S2 and S3) were inoculated on 15 species of
Cucurbitaceae, Chenopodiaceae, Solanacae and Leguminosae.
Chenopodium quinoa and C. amaranticolor.
Did not developed any symptoms.all isolates caused mosaic
symptoms on Phaseolus vulgaris cv. Red Kidney and P. vulgaris cv.
Bountiful. The molecular weights of coat protein using SDS-PAGE
and western blotting were estimated at 33 kDa. Reverse transcription
polymerase chain reaction (RT-PCR) was performed using one
primer pairs designed by L. XU et al. An approximately 920 bp
fragment was amplified with a specific primer.