Abstract: Robotic surgery is used to enhance minimally invasive
surgical procedure. It provides greater degree of freedom for surgical
tools but lacks of haptic feedback system to provide sense of touch to
the surgeon. Surgical robots work on master-slave operation, where
user is a master and robotic arms are the slaves. Current, surgical
robots provide precise control of the surgical tools, but heavily rely
on visual feedback, which sometimes cause damage to the inner
organs. The goal of this research was to design and develop a realtime
Simulink based robotic system to study force feedback
mechanism during instrument-object interaction. Setup includes three
VelmexXSlide assembly (XYZ Stage) for three dimensional
movement, an end effector assembly for forceps, electronic circuit for
four strain gages, two Novint Falcon 3D gaming controllers,
microcontroller board with linear actuators, MATLAB and Simulink
toolboxes. Strain gages were calibrated using Imada Digital Force
Gauge device and tested with a hard-core wire to measure
instrument-object interaction in the range of 0-35N. Designed
Simulink model successfully acquires 3D coordinates from two
Novint Falcon controllers and transfer coordinates to the XYZ stage
and forceps. Simulink model also reads strain gages signal through
10-bit analog to digital converter resolution of a microcontroller
assembly in real time, converts voltage into force and feedback the
output signals to the Novint Falcon controller for force feedback
mechanism. Experimental setup allows user to change forward
kinematics algorithms to achieve the best-desired movement of the
XYZ stage and forceps. This project combines haptic technology
with surgical robot to provide sense of touch to the user controlling
forceps through machine-computer interface.
Abstract: The detection of moving objects from a video image
sequences is very important for object tracking, activity recognition,
and behavior understanding in video surveillance.
The most used approach for moving objects detection / tracking is
background subtraction algorithms. Many approaches have been
suggested for background subtraction. But, these are illumination
change sensitive and the solutions proposed to bypass this problem
are time consuming.
In this paper, we propose a robust yet computationally efficient
background subtraction approach and, mainly, focus on the ability to
detect moving objects on dynamic scenes, for possible applications in
complex and restricted access areas monitoring, where moving and
motionless persons must be reliably detected. It consists of three
main phases, establishing illumination changes invariance,
background/foreground modeling and morphological analysis for
noise removing.
We handle illumination changes using Contrast Limited Histogram
Equalization (CLAHE), which limits the intensity of each pixel to
user determined maximum. Thus, it mitigates the degradation due to
scene illumination changes and improves the visibility of the video
signal. Initially, the background and foreground images are extracted
from the video sequence. Then, the background and foreground
images are separately enhanced by applying CLAHE.
In order to form multi-modal backgrounds we model each channel
of a pixel as a mixture of K Gaussians (K=5) using Gaussian Mixture
Model (GMM). Finally, we post process the resulting binary
foreground mask using morphological erosion and dilation
transformations to remove possible noise.
For experimental test, we used a standard dataset to challenge the
efficiency and accuracy of the proposed method on a diverse set of
dynamic scenes.
Abstract: In this work, we report, a systematic study on the
structural and optical properties of Pr-doped ZnO nanostructures and
PVA:Zn98Pr2O polymer matrix nanocomposites free standing films.
These particles are synthesized through simple wet chemical route
and solution casting technique at room temperature, respectively.
Structural studies carried out by X-ray diffraction method confirm
that the prepared pure ZnO and Pr doped ZnO nanostructures are in
hexagonal wurtzite structure and the microstrain is increased upon
doping. TEM analysis reveals that the prepared materials are in sheet
like nature. Absorption spectra show free excitonic absorption band
at 370 nm and red shift for the Pr doped ZnO nanostructures. The
PVA:Zn98Pr2O composite film exhibits both free excitonic and PVA
absorption bands at 282 nm. Fourier transform infrared spectral
studies confirm the presence of A1 (TO) and E1 (TO) modes of Zn-O
bond vibration and the formation of polymer composite materials.
Abstract: A well designed and executed Production Planning
and Control (PPC) system is one of the key levers for superior
performance in the current manufacturing set-up. Hence, measuring
the PPC system performance has become a necessity for long term
success. The present study examined PPC related issues which
impact the production capacity and productivity of leather companies
with special focus on Kombolcha Tannery Share Company (KTSC),
Ethiopia. Physical observation, interview, and questionnaire were
used to generate necessary information from the respondents and
reach valid conclusions. Company annual reports were referred and
analyzed to triangulate primary data. Consequently, the study
revealed that KTSC runs below its capacity due to its inefficient PPC
system being in use for which the root causes were identified. The
study thereby conceptualizes a PPC system improvement framework
comprising three pillars viz., management culture, internal capability
and performance measurement together with key considerations in
each case. The study findings enable the company to recognize the
importance of efficient PPC system as a source of competitive
advantage. It also aid managers in evaluating various PPC execution
schemes to enhance productivity.
Abstract: This paper addresses the issue of the autonomous
mobile robot (AMR) navigation task based on the hybrid control
modes. The novel hybrid control mode, based on multi-sensors
information by using the fuzzy approach, has been presented in this
research. The system operates in real time, is robust, enables the robot
to operate with imprecise knowledge, and takes into account the
physical limitations of the environment in which the robot moves,
obtaining satisfactory responses for a large number of different
situations. An experiment is simulated and carried out with a pioneer
mobile robot. From the experimental results, the effectiveness and
usefulness of the proposed AMR obstacle avoidance and navigation
scheme are confirmed. The experimental results show the feasibility,
and the control system has improved the navigation accuracy. The
implementation of the controller is robust, has a low execution time,
and allows an easy design and tuning of the fuzzy knowledge base.
Abstract: Everyday life is and will be influenced depending on
the developments that society undergoes throughout the history.
Particularly, countries undergoing transition from one system to
another sustain the greatest impact in trying to embrace the modern
system. Kosovo society had the fortune to experience a change,
which began in late 1999 to continue up to date. One of the
'developments' of the time with the evolution in Kosovo society was
the transition from the traditional education system into the modern
one. This transformation began immediately after the war, to
continue even today. It was started by internationals, which governed
and administered Kosovo society, including education. There was a
great 'evolution', because almost the entire system was 'changed'.
Among other things, for the first time it was enabled the opening of
private schools from the lowest level up to the colleges and
universities. This paper will address: how much was ready the society
to embrace such a 'cultural' change in education, respectively, how
much were prepared teachers for such changes; as it was actually
thought to be a modern education system, how much was it according
to international standards; what are the results and current situation in
Kosovo education.
Abstract: Electroencephalogram (EEG) is a noninvasive
technique that registers signals originating from the firing of neurons
in the brain. The Emotiv EEG Neuroheadset is a consumer product
comprised of 14 EEG channels and was used to record the reactions
of the neurons within the brain to two forms of stimuli in 10
participants. These stimuli consisted of auditory and visual formats
that provided directions of ‘right’ or ‘left.’ Participants were
instructed to raise their right or left arm in accordance with the
instruction given. A scenario in OpenViBE was generated to both
stimulate the participants while recording their data. In OpenViBE,
the Graz Motor BCI Stimulator algorithm was configured to govern
the duration and number of visual stimuli. Utilizing EEGLAB under
the cross platform MATLAB®, the electrodes most stimulated during
the study were defined. Data outputs from EEGLAB were analyzed
using IBM SPSS Statistics® Version 20. This aided in determining
the electrodes to use in the development of a brain-machine interface
(BMI) using real-time EEG signals from the Emotiv EEG
Neuroheadset. Signal processing and feature extraction were
accomplished via the Simulink® signal processing toolbox. An
Arduino™ Duemilanove microcontroller was used to link the Emotiv
EEG Neuroheadset and the right and left Mecha TE™ Hands.
Abstract: The article discusses the legal framework of the
government’s environmental function and analyzes the role of the
national policy in protection of wetlands. The problem is of interest
for it deals with the most important branch of economy – utilization
of Kazakhstan’s natural resources, protection of health and
environmental wellbeing of the population. Development of a longterm
environmental program addressing the protection of wetlands
represents the final stage of the government’s environmental policy,
and is a relatively new function for the public administration system.
It appeared due to the environmental measures that require immediate
decisions to be taken. It is an integral part of the effort in the field of
management of state-owned natural resource, as well as of the
measures aimed at efficient management of natural resources to avoid
their early depletion or contamination.
Abstract: Pedagogy has always been open to other disciplines
that reflect about the educational process (philosophy, sociology,
psychology, anthropology, technology, etc.). Its interdisciplinary
openness puts education, as the subject of pedagogy within a broader
context of the community, enabling the knowledge of other
disciplines to contribute to a better understanding of the fundamental
pedagogical notion of education. The purpose of pedagogy as a
science serves humans, strives towards humans, must be for humans,
and this is its ultimate goal. Humans are essentially dependent on
education, which is also considered as a category of humans’ being,
because through education an entire world develops in humans.
Anthropological assumptions of humans as "deficient beings" see the
solution in education, but they also indicate a wealth of shortcomings,
because they provide an opportunity for enrichment and formation of
culture, living and the self. In that context, this paper illustrates the
determination of pedagogy through an anthropological conception of
humans and the phenomenon of education. It presents a review of
anthropological ideas about education, by providing an analysis of
relevant literature dealing with the anthropological notion of humans,
which provides fruitful conditions for a pedagogical reconsideration
of education.
Abstract: Presently, it is necessary to ensure the sustainable
development of passenger and freight transport. Increasing
performance of road freight has had a negative impact to environment
and society. It is therefore necessary to increase the competitiveness
of intermodal transport, which is more environmentally friendly. The
study describes the effectiveness of logistical centers realization for
companies and society and research how the partial internalization of
external costs reflected in the efficient use of these centers and
increase the competitiveness of intermodal transport to road freight.
In our research, we use the method of comparative analysis and
market research to describe the advantages of logistic centers for their
users as well as for society as a whole. Method normal costing is used
for calculation infrastructure and total costs, method of conversion
costing for determine the external costs. We modelled total society
costs for road freight transport and inter modal transport chain (we
assumed that most of the traffic is carried by rail) with different
loading schemes for condition in the Slovak Republic. Our research
has shown that higher utilization of inter modal transport chain do
good not only for society, but for companies providing freight
services too. Increase in use of inter modal transport chain can bring
many benefits to society that do not bring direct immediate financial
return. They often bring the multiplier effects, such as greater use of
environmentally friendly transport mode and reduce the total society
costs.
Abstract: This paper describes the problem of building secure
computational services for encrypted information in the Cloud
Computing without decrypting the encrypted data; therefore, it meets
the yearning of computational encryption algorithmic aspiration
model that could enhance the security of big data for privacy,
confidentiality, availability of the users. The cryptographic model
applied for the computational process of the encrypted data is the
Fully Homomorphic Encryption Scheme. We contribute a theoretical
presentations in a high-level computational processes that are based
on number theory and algebra that can easily be integrated and
leveraged in the Cloud computing with detail theoretic mathematical
concepts to the fully homomorphic encryption models. This
contribution enhances the full implementation of big data analytics
based cryptographic security algorithm.
Abstract: The characteristics of temperature distribution and
electric field in a natural rubber glove (NRG) using microwave
energy during microwave heating process are investigated
numerically and experimentally. A three-dimensional model of NRG
and microwave oven are considered in this work. The influences of
position, heating time and rotation angle of NRG on temperature
distribution and electric field are presented in details. The coupled
equations of electromagnetic wave propagation and heat transfer are
solved using the finite element method (FEM). The numerical model
is validated with an experimental study at a frequency of 2.45 GHz.
The results show that the numerical results closely match the
experimental results. Furthermore, it is found that the temperature
distribution and electric field increases with increasing heating time.
The hot spot zone appears in NRG at the tip of middle finger while
the maximum temperature occurs in case of rotation angle of NRG =
60 degree. This investigation provides the essential aspects for a
fundamental understanding of heat transport of NRG using
microwave energy in industry.
Abstract: In this study, several crossplots of the P-impedance
with the lithology logs (gamma ray, neutron porosity, deep resistivity,
water saturation and Vp/Vs curves) were made in three available
wells, which were drilled in central part of the Blue Nile basin in
depths varies from 1460m to 1600m. These crossplots were
successful to discriminate between sand and shale when using PImpedance
values, and between the wet sand and the pay sand when
using both P-impedance and Vp/Vs together. Also some impedance
sections were converted to porosity sections using linear formula to
characterize the reservoir in terms of porosity. The used crossplots
were created on log resolution, while the seismic resolution can
identify only the reservoir, unless a 3D seismic angle stacks were
available; then it would be easier to identify the pay sand with great
confidence; through high resolution seismic inversion and
geostatistical approach when using P-impedance and Vp/Vs volumes.
Abstract: This article deals with geographical conditions in
terrain and their effect on the movement of vehicles, their effect on
speed and safety of movement of people and vehicles. Finding of the
optimal routes outside the communication is studied in the Army
environment, but it occur in civilian as well, primarily in crisis
situation, or by the provision of assistance when natural disasters
such as floods, fires, storms etc., have happened. These movements
require the optimization of routes when effects of geographical
factors should be included. The most important factor is the surface
of a terrain. It is based on several geographical factors as are slopes,
soil conditions, micro-relief, a type of surface and meteorological
conditions. Their mutual impact has been given by coefficient of
deceleration. This coefficient can be used for the commander`s
decision. New approaches and methods of terrain testing,
mathematical computing, mathematical statistics or cartometric
investigation are necessary parts of this evaluation.
Abstract: Natural hydrocarbon seepage has helped petroleum
exploration as a direct indicator of gas and/or oil subsurface
accumulations. Surface macro-seeps are generally an indication of a
fault in an active Petroleum Seepage System belonging to a Total
Petroleum System. This paper describes a case study in which
multiple analytical techniques were used to identify and characterize
trace petroleum-related hydrocarbons and other volatile organic
compounds in groundwater samples collected from Sousse aquifer
(Central Tunisia). The analytical techniques used for analyses of
water samples included gas chromatography-mass spectrometry (GCMS),
capillary GC with flame-ionization detection, Compound
Specific Isotope Analysis, Rock Eval Pyrolysis. The objective of the
study was to confirm the presence of gasoline and other petroleum
products or other volatile organic pollutants in those samples in order
to assess the respective implication of each of the potentially
responsible parties to the contamination of the aquifer. In addition,
the degree of contamination at different depths in the aquifer was also
of interest. The oil and gas seeps have been investigated using
biomarker and stable carbon isotope analyses to perform oil-oil and
oil-source rock correlations. The seepage gases are characterized by
high CH4 content, very low δ13CCH4 values (-71,9 ‰) and high
C1/C1–5 ratios (0.95–1.0), light deuterium–hydrogen isotope ratios (-
198 ‰) and light δ13CC2 and δ13CCO2 values (-23,8‰ and-23,8‰
respectively) indicating a thermogenic origin with the contribution of
the biogenic gas. An organic geochemistry study was carried out on
the more ten oil seep samples. This study includes light hydrocarbon
and biomarkers analyses (hopanes, steranes, n-alkanes, acyclic
isoprenoids, and aromatic steroids) using GC and GC-MS. The
studied samples show at least two distinct families, suggesting two
different types of crude oil origins: the first oil seeps appears to be
highly mature, showing evidence of chemical and/or biological
degradation and was derived from a clay-rich source rock deposited
in suboxic conditions. It has been sourced mainly by the lower
Fahdene (Albian) source rocks. The second oil seeps was derived
from a carbonate-rich source rock deposited in anoxic conditions,
well correlated with the Bahloul (Cenomanian-Turonian) source rock.
Abstract: Today, the pollution due to non-degradable material
such as plastics, has led to studies about the development of
environmental-friendly material. Because of biodegradability
obtained from natural sources, polylactid acid (PLA) and ijuk fiber
are interesting to modify into a composite. This material is also
expected to reduce the impact of environmental pollution. Surface
modification of ijuk fiber through alkalinization with 0.25 M NaOH
solution for 30 minutes was aimed to enhance its compatibility to
PLA, in order to improve properties of the composite such as the
mechanical properties. Alkalinization of the ijuk fibers annihilates
some surface components such as lignin, wax and hemicelloluse, so
the pore on the surface clearly appeared, decreasing of the density
and diameter of the ijuk fibers. The change of the ijuk fiber properties
leads to increase the mechanical properties of PLA composites
reinforced the ijuk fibers through strengthening of the mechanical
interlocking with the PLA matrix. An addition to enhance the
distribution of the fibers in the PLA matrix, the stirring during DCM
solvent evaporation from the mixture of the ijuk fibers and the
dissolved-PLA can reduce amount of the trapped-voids and fibers
pull-out phenomena, which can decrease the mechanical properties of
the composite.
Abstract: The paper deals with behaviour of the segment 50+ in
the financial market in the Czech Republic. This segment could be
said as the strong market power and it can be a crucial business
potential for financial business units. The main defined objective of
this paper is analysis of the customers´ behaviour of the segment 50-
60 years in the financial market in the Czech Republic and proposal
making of the suitable marketing approach to satisfy their demands in
the area of product, price, distribution and marketing communication
policy. This paper is based on data from one part of primary
marketing research. Paper determinates the basic problem areas as
well as definition of financial services marketing, defining the
primary research problem, hypothesis and primary research
methodology. Finally suitable marketing approach to selected sub
segment at age of 50-60 years is proposed according to marketing
research findings.
Abstract: This paper examines international marketing in
business practice of Czech exporting small and medium-sized
enterprises (SMEs) with regard to the strategic perspectives.
Research was focused on Czech exporting SMEs from Moravian-
Silesia region and their behavior on international markets. For
purpose of collecting data, a questionnaire was given to 262 SMEs
involved in international business. Statistics utilized in this research
included frequency, mean, percentage, and chi-square test. Data were
analyzed by Statistical Package for the Social Sciences software. The
research analysis disclosed that there is certain space for
improvement in strategic marketing especially in a marketing
research, perception of cultural and social differences, product
adaptation and usage of marketing communication tools.
Abstract: Content Based Image Retrieval (CBIR) coupled with
Case Based Reasoning (CBR) is a paradigm that is becoming
increasingly popular in the diagnosis and therapy planning of medical
ailments utilizing the digital content of medical images. This paper
presents a survey of some of the promising approaches used in the
detection of abnormalities in retina images as well in
mammographic screening and detection of regions of interest
in MRI scans of the brain. We also describe our proposed
algorithm to detect hard exudates in fundus images of the
retina of Diabetic Retinopathy patients.
Abstract: The present work analyses different parameters of end
milling to minimize the surface roughness for AISI D2 steel. D2 Steel
is generally used for stamping or forming dies, punches, forming
rolls, knives, slitters, shear blades, tools, scrap choppers, tyre
shredders etc. Surface roughness is one of the main indices that
determines the quality of machined products and is influenced by
various cutting parameters. In machining operations, achieving
desired surface quality by optimization of machining parameters, is a
challenging job. In case of mating components the surface roughness
become more essential and is influenced by the cutting parameters,
because, these quality structures are highly correlated and are
expected to be influenced directly or indirectly by the direct effect of
process parameters or their interactive effects (i.e. on process
environment). In this work, the effects of selected process parameters
on surface roughness and subsequent setting of parameters with the
levels have been accomplished by Taguchi’s parameter design
approach. The experiments have been performed as per the
combination of levels of different process parameters suggested by
L9 orthogonal array. Experimental investigation of the end milling of
AISI D2 steel with carbide tool by varying feed, speed and depth of
cut and the surface roughness has been measured using surface
roughness tester. Analyses of variance have been performed for mean
and signal-to-noise ratio to estimate the contribution of the different
process parameters on the process.