Abstract: In this paper, we study the formation control problem
for car-like mobile robots. A team of nonholonomic mobile robots navigate in a terrain with obstacles, while maintaining a desired
formation, using a leader-following strategy. A set of artificial potential field functions is proposed using the direct Lyapunov
method for the avoidance of obstacles and attraction to their designated targets. The effectiveness of the proposed control laws to verify the feasibility of the model is demonstrated through computer simulations
Abstract: Improving the reactive power and voltage profile of a
distribution substation is investigated in this paper. The purpose is to
properly determination of the shunt capacitors on/off status and
suitable tap changer (TC) position of a substation transformer. In
addition, the limitation of secondary bus voltage, the maximum
allowable number of switching operation in a day for on load tap
changer and on/off status of capacitors are taken into account. To
achieve these goals, an artificial neural network (ANN) is designed to
provide preliminary scheduling. Input of ANN is active and reactive
powers of transformer and its primary and secondary bus voltages.
The output of ANN is capacitors on/off status and TC position. The
preliminary schedule is further refined by fuzzy dynamic
programming in order to reach the final schedule. The operation of
proposed method in Q/V improving is compared with the results
obtained by operator operation in a distribution substation.
Abstract: Although, all high school students in Japan are required to learn informatics, many of them do not learn this topic sufficiently. In response to this situation, we propose a support package for high school informatics classes. To examine what students learned and if they sufficiently understood the context of the lessons, a questionnaire survey was distributed to 186 students. We analyzed the results of the questionnaire and determined the weakest units, which were “basic computer configuration” and “memory and secondary storage”. We then developed a package for teaching these units. We propose that our package be applied in high school classrooms.
Abstract: This paper explores the opportunity of using tri-axial
wireless accelerometers for supervised monitoring of sports
movements. A motion analysis system for the upper extremities of
lawn bowlers in particular is developed. Accelerometers are placed
on parts of human body such as the chest to represent the shoulder
movements, the back to capture the trunk motion, back of the hand,
the wrist and one above the elbow, to capture arm movements. These
sensors placement are carefully designed in order to avoid restricting
bowler-s movements. Data is acquired from these sensors in soft-real
time using virtual instrumentation; the acquired data is then
conditioned and converted into required parameters for motion
regeneration. A user interface was also created to facilitate in the
acquisition of data, and broadcasting of commands to the wireless
accelerometers. All motion regeneration in this paper deals with the
motion of the human body segment in the X and Y direction, looking
into the motion of the anterior/ posterior and lateral directions
respectively.
Abstract: This paper describes the design process and the realtime validation of an innovative autonomous mid-air flight and landing system developed by the Italian Aerospace Research Center in the framework of the Italian national funded project TECVOL (Technologies for the Autonomous Flight). In the paper it is provided an insight of the whole development process of the system under study. In particular, the project framework is illustrated at first, then the functional context and the adopted design and testing approach are described, and finally the on-ground validation test rig on purpose designed is addressed in details. Furthermore, the hardwarein- the-loop validation of the autonomous mid-air flight and landing system by means of the real-time test rig is described and discussed.
Abstract: Genetically modified (GM) technology in food
production continued to generate controversies. Consumers were
concerned with the GM foods about the healthy and environmental
risks. While consumers- acceptance was a critical factor affecting how
widely this technology be used. According to the research review,
consumers- lack of information was one of the reasons to explain
consumers- low acceptance toward GM foods. The objective for this
study wanted to find out would informative product package affect
consumers- behavior toward GM foods. An experiment was designed
to investigate consumer behavior toward different product package
information. The results indicated that the product package
information influenced consumer product trust toward GM foods.
Compared with the traceability production system information, the
information about the GM rice was approved by authorized
organizations could increase consumers product trust in GM foods.
Consumers in Taiwan saw the information provided by authorized
organizations more credible than other information.
Abstract: This study investigated the effect of cross sectional
geometry on sediment transport rate. The processes of sediment
transport are generally associated to environmental management,
such as pollution caused by the forming of suspended sediment in the
channel network of a watershed and preserving physical habitats and
native vegetations, and engineering applications, such as the
influence of sediment transport on hydraulic structures and flood
control design. Many equations have been proposed for computing
the sediment transport, the influence of many variables on sediment
transport has been understood; however, the effect of other variables
still requires further research. For open channel flow, sediment
transport capacity is recognized to be a function of friction slope,
flow velocity, grain size, grain roughness and form roughness, the
hydraulic radius of the bed section and the type and quantity of
vegetation cover. The effect of cross sectional geometry of the
channel on sediment transport is one of the variables that need
additional investigation. The width-depth ratio (W/d) is a
comparative indicator of the channel shape. The width is the total
distance across the channel and the depth is the mean depth of the
channel. The mean depth is best calculated as total cross-sectional
area divided by the top width. Channels with high W/d ratios tend to
be shallow and wide, while channels with low (W/d) ratios tend to be
narrow and deep. In this study, the effects of the width-depth ratio on
sediment transport was demonstrated theoretically by inserting the
shape factor in sediment continuity equation and analytically by
utilizing the field data sets for Yalobusha River. It was found by
utilizing the two approaches as a width-depth ratio increases the
sediment transport decreases.
Abstract: Augmented Reality (AR) shows great promises for
its usage as a tool for simulation and verification of design proposal
of new technological systems. Main advantage of augmented reality
application usage is possibility of creation and simulation of new
technological unit before its realization. This may contribute to
increasing of safety and ergonomics and decreasing of economical
aspects of new proposed unit. Virtual model of proposed workcell
could reveal hidden errors which elimination in later stage of new
workcell creation should cause great difficulties. Paper describes
process of such virtual model creation and possibilities of its
simulation and verification by augmented reality tools.
Abstract: Due to the limited lifetime of the nodes in ad hoc and sensor networks, energy efficiency needs to be an important design consideration in any routing algorithm. It is known that by employing a virtual backbone in a wireless network, the efficiency of any routing scheme for the network can be improved. One common design for routing protocols in mobile ad hoc networks is to use positioning information; we use the node-s geometric locations to introduce an algorithm that can construct the virtual backbone structure locally in 3D environment. The algorithm construction has a constant time.
Abstract: Wheat has a bimodal starch granule population and the dependency of the rate of enzymatic hydrolysis on particle size has been investigated. Ungelatinised wheaten starch granules were separated into two populations by sedimentation and decantation. Particle size was analysed by laser diffraction and morphological characteristics were viewed using SEM. The sedimentation technique though lengthy, gave satisfactory separation of the granules. Samples (10μm and original) were digested with a-amylase using a dialysis model. Granules of 10μm (p10μm. Moreover, the digestion rate was dependent on particle size whereby smaller granules produced higher rate of release. The methodology and results reported here can be used as a basis for further evaluations designed to delay the release of glucose during the digestion of native starches.
Abstract: Numerical design optimization is a powerful tool that
can be used by engineers during any stage of the design process.
There are many different applications for structural optimization. A
specific application that will be discussed in the following paper is
experimental data matching. Data obtained through tests on a physical
structure will be matched with data from a numerical model of that
same structure. The data of interest will be the dynamic characteristics
of an antenna structure focusing on the mode shapes and modal
frequencies. The structure used was a scaled and simplified model of
the Karoo Array Telescope-7 (KAT-7) antenna structure.
This kind of data matching is a complex and difficult task. This
paper discusses how optimization can assist an engineer during the
process of correlating a finite element model with vibration test data.
Abstract: Signalized intersections on high-volume arterials are
often congested during peak hours, causing a decrease in through
movement efficiency on the arterial. Much of the vehicle delay
incurred at conventional intersections is caused by high left-turn
demand. Unconventional intersection designs attempt to reduce
intersection delay and travel time by rerouting left-turns away from
the main intersection and replacing it with right-turn followed by Uturn.
The proposed new type of U-turn intersection is geometrically
designed with a raised island which provides a protected U-turn
movement. In this study several scenarios based on different
distances between U-turn and main intersection, traffic volume of
major/minor approaches and percentage of left-turn volumes were
simulated by use of AIMSUN, a type of traffic microsimulation
software. Subsequently some models are proposed in order to
compute travel time of each movement. Eventually by correlating
these equations to some in-field collected data of some implemented
U-turn facilities, the reliability of the proposed models are approved.
With these models it would be possible to calculate travel time of
each movement under any kind of geometric and traffic condition. By
comparing travel time of a conventional signalized intersection with
U-turn intersection travel time, it would be possible to decide on
converting signalized intersections into this new kind of U-turn
facility or not. However comparison of travel time is not part of the
scope of this research. In this paper only travel time of this innovative
U-turn facility would be predicted. According to some before and
after study about the traffic performance of some executed U-turn
facilities, it is found that commonly, this new type of U-turn facility
produces lower travel time. Thus, evaluation of using this type of
unconventional intersection should be seriously considered.
Abstract: In this paper after reviewing some previous studies, in
order to optimize the above knee prosthesis, beside the inertial
properties a new controlling parameter is informed. This controlling
parameter makes the prosthesis able to act as a multi behavior system
when the amputee is opposing to different environments. This active
prosthesis with the new controlling parameter can simplify the
control of prosthesis and reduce the rate of energy consumption in
comparison to recently presented similar prosthesis “Agonistantagonist
active knee prosthesis".
In this paper three models are generated, a passive, an active, and
an optimized active prosthesis. Second order Taylor series is the
numerical method in solution of the models equations and the
optimization procedure is genetic algorithm.
Modeling the prosthesis which comprises this new controlling
parameter (SEP) during the swing phase represents acceptable results
in comparison to natural behavior of shank. Reported results in this
paper represent 3.3 degrees as the maximum deviation of models
shank angle from the natural pattern. The natural gait pattern belongs
to walking at the speed of 81 m/min.
Abstract: Ultrasonic machining (USM) is a non-traditional
machining process being widely used for commercial machining of
brittle and fragile materials such as glass, ceramics and
semiconductor materials. However, USM could be a viable
alternative for machining a tough material such as titanium; and this
aspect needs to be explored through experimental research. This
investigation is focused on exploring the use of ultrasonic machining
for commercial machining of pure titanium (ASTM Grade-I) and
evaluation of tool wear rate (TWR) under controlled experimental
conditions. The optimal settings of parameters are determined
through experiments planned, conducted and analyzed using Taguchi
method. In all, the paper focuses on parametric optimization of
ultrasonic machining of pure titanium metal with TWR as response,
and validation of the optimized value of TWR by conducting
confirmatory experiments.
Abstract: An integrated vehicle dynamics control system is developed in this paper by a combination of active front steering (AFS) and direct yaw-moment control (DYC) based on fuzzy logic control. The control system has a hierarchical structure consisting of two layers. A fuzzy logic controller is used in the upper layer (yaw rate controller) to keep the yaw rate in its desired value. The yaw rate error and its rate of change are applied to the upper controlling layer as inputs, where the direct yaw moment control signal and the steering angle correction of the front wheels are the outputs. In the lower layer (fuzzy integrator), a fuzzy logic controller is designed based on the working region of the lateral tire forces. Depending on the directions of the lateral forces at the front wheels, a switching function is activated to adjust the scaling factor of the fuzzy logic controller. Using a nonlinear seven degrees of freedom vehicle model, the simulation results illustrate considerable improvements which are achieved in vehicle handling through the integrated AFS/DYC control system in comparison with the individual AFS or DYC controllers.
Abstract: There is wide range of scientific workflow systems
today, each one designed to resolve problems at a specific level. In
large collaborative projects, it is often necessary to recognize the
heterogeneous workflow systems already in use by various partners
and any potential collaboration between these systems requires
workflow interoperability. Publish/Subscribe Scientific Workflow
Interoperability Framework (PS-SWIF) approach was proposed to
achieve workflow interoperability among workflow systems. This
paper evaluates the PS-SWIF approach and its system to achieve
workflow interoperability using Web Services with asynchronous
notification messages represented by WS-Eventing standard. This
experiment covers different types of communication models provided
by Workflow Management Coalition (WfMC). These models are:
Chained processes, Nested synchronous sub-processes, Event
synchronous sub-processes, and Nested sub-processes
(Polling/Deferred Synchronous). Also, this experiment shows the
flexibility and simplicity of the PS-SWIF approach when applied to a
variety of workflow systems (Triana, Taverna, Kepler) in local and
remote environments.
Abstract: In the present study, we aimed to design the
intrauterine and extrauterine exposure to 1800 MHz GSM-like RF
radiation and investigate its possible bio-effects on infant female
rabbits. Totally thirty-six New Zealand White female rabbits, onemonth
old, were randomly divided into four groups which are
composed of 9 rabbits; i. Group I [Intrauterine (IU) exposure(-);
Extrauterine (EU) exposure (-)], Group II [IU exposure (-); EU
exposure (+)], Group III [IU exposure(+);EU exposure(-)], Group IV
[IU exposure (+);EU exposure(+)]. The master regulatory enzymes
activities of pentose phosphate pathway (glucose-6-phosphate
dehydrogenase, G-6PD; 6-phosphogluconate dehydrogenase, 6-
PGDH) and glutathione-dependent metabolism (glutathione
peroxidase, GSH-Px; glutathione reductase, GR; glutathione Stransferase,
GST, thioredoxin reductase, TRx) were analyzed in liver
tissues of young female rabbits. Decreased G-6PD, 6-PGD, GSH-Px,
GR activities were found in Group III compared to Group I (p
Abstract: This paper discusses aspects of re-design of loadshedding
schemes with respect to actual developments in the Kosovo
power system. Load-shedding is a type of emergency control that is
designed to ensure system stability by reducing power system load to
match the power generation supply. This paper presents a new
adaptive load-shedding scheme that provides emergency protection
against excess frequency decline, in cases when the Kosovo power
system might be disconnected from the regional transmission
network. The proposed load-shedding scheme uses the local
frequency rate information to adapt the load-shedding pattern to suit
the size and location of the occurring disturbance. The proposed
scheme is tested in a software simulation on a large scale PSS/E
model which represents nine power system areas of Southeast Europe
including the Kosovo power system.
Abstract: In this study, a double-sided linear switched reluctance
motor (LSRM) drive was investigated as an alternative actuator for
vertical linear transportation applications such as a linear elevator
door, hospital and subway doors which move linearly and where
accurate position control and rapid response is requested. A prototype
sliding elevator door that is focused on a home elevator with LSRMs
is designed. The motor has 6/4 poles, 3 phases, 8A, 24V, 250 W and
250 N pull forces. Air gap between rotor and translator poles of the
designed motor and phase coil-s ideal inductance profile are obtained
in compliance with the geometric dimensions. Operation and
switching sections as motor and generator has been determined from
the inductance profile.
Abstract: Scaffolds play a key role in tissue engineering and can be produced in many different ways depending on the applications and the materials used. Most researchers used an experimental trialand- error approach into new biomaterials but computer simulation applied to tissue engineering can offer a more exhaustive approach to test and screen out biomaterials. This paper develops the model of scaffolds and Computational Fluid Dynamics that show the value of computer simulations in determining the influence of the geometrical scaffold parameter porosity, pore size and shape on the permeability of scaffolds, magnitude of velocity, drop pressure, shear stress distribution and level and the proper design of the geometry of the scaffold. This creates a need for more advanced studies that include aspects of dynamic conditions of a micro fluid passing through the scaffold were characterized for tissue engineering applications and differentiation of tissues within scaffolds.