Abstract: This paper investigates simple implicit force control
algorithms realizable with industrial robots. A lot of approaches
already published are difficult to implement in commercial robot
controllers, because the access to the robot joint torques is necessary
or the complete dynamic model of the manipulator is used. In
the past we already deal with explicit force control of a position
controlled robot. Well known schemes of implicit force control are
stiffness control, damping control and impedance control. Using such
algorithms the contact force cannot be set directly. It is further
the result of controller impedance, environment impedance and
the commanded robot motion/position. The relationships of these
properties are worked out in this paper in detail for the chosen
implicit approaches. They have been adapted to be implementable
on a position controlled robot. The behaviors of stiffness control
and damping control are verified by practical experiments. For this
purpose a suitable test bed was configured. Using the full mechanical
impedance within the controller structure will not be practical in the
case when the robot is in physical contact with the environment. This
fact will be verified by simulation.
Abstract: The purpose of the paper is to estimate the US small
wind turbines market potential and forecast the small wind turbines
sales in the US. The forecasting method is based on the application of
the Bass model and the generalized Bass model of innovations
diffusion under replacement purchases. In the work an exponential
distribution is used for modeling of replacement purchases. Only one
parameter of such distribution is determined by average lifetime of
small wind turbines. The identification of the model parameters is
based on nonlinear regression analysis on the basis of the annual
sales statistics which has been published by the American Wind
Energy Association (AWEA) since 2001 up to 2012. The estimation
of the US average market potential of small wind turbines (for
adoption purchases) without account of price changes is 57080
(confidence interval from 49294 to 64866 at P = 0.95) under average
lifetime of wind turbines 15 years, and 62402 (confidence interval
from 54154 to 70648 at P = 0.95) under average lifetime of wind
turbines 20 years. In the first case the explained variance is 90,7%,
while in the second - 91,8%. The effect of the wind turbines price
changes on their sales was estimated using generalized Bass model.
This required a price forecast. To do this, the polynomial regression
function, which is based on the Berkeley Lab statistics, was used. The
estimation of the US average market potential of small wind turbines
(for adoption purchases) in that case is 42542 (confidence interval
from 32863 to 52221 at P = 0.95) under average lifetime of wind
turbines 15 years, and 47426 (confidence interval from 36092 to
58760 at P = 0.95) under average lifetime of wind turbines 20 years.
In the first case the explained variance is 95,3%, while in the second
– 95,3%.
Abstract: This paper presents a numerical investigation of two
horizontally mounted four-lobed swirl pipes in terms of swirl
induction effectiveness into flows passing through them. The swirl
flows induced by the two swirl pipes have the potential to improve
the efficiency of Clean-In-Place procedures in a closed processing
system by local intensification of hydrodynamic impact on the
internal pipe surface. Pressure losses, swirl development within the
two swirl pipe, swirl induction effectiveness, swirl decay and wall
shear stress variation downstream of two swirl pipes are analyzed and
compared. It was found that a shorter length of swirl inducing pipe
used in joint with transition pipes is more effective in swirl induction
than when a longer one is used, in that it has a less constraint to the
induced swirl and results in slightly higher swirl intensity just
downstream of it with the expense of a smaller pressure loss. The
wall shear stress downstream of the shorter swirl pipe is also slightly
larger than that downstream of the longer swirl pipe due to the
slightly higher swirl intensity induced by the shorter swirl pipe. The
advantage of the shorter swirl pipe in terms of swirl induction is more
significant in flows with a larger Reynolds Number.
Abstract: In this study, firstly democratic thoughts which
directly or indirectly affect economic development and/or the
interaction between authoritarian regimes and the economic
development and the direction and channels of this interaction were
studied and then the study tried to determine how democracy affects
economic development. It was concluded that the positive
contributions of democracy to economic development were more
determinant than the effects that were either negative or restrictive in
terms of development. When compared to autocracy, since
democracy is more successful in managing social conflicts, ensuring
political stability and preventing social disasters such as famine, it
contributes more to economic development. Democracy also
facilitates delegation of authority, provides a stable investment
environment and accelerates mobilization of resources in accordance
with economic growth/development. Democracy leads to an increase
in human capital accumulation and increases the growth rate through
reducing income inequality. It can be said that democratic regimes
are the most appropriate ones in terms of increasing economic
performance and supporting economic development through their
strong institutional structures and the assurance they will ensure in
property rights.
Abstract: Non-crimp 3D orthogonal fabric composite is one of
the textile-based composite materials that are rapidly developing
light-weight engineering materials. The present paper focuses on
geometric and micromechanical modeling of non-crimp 3D
orthogonal carbon fabric and composites reinforced with it for
aerospace applications. In this research meso-finite element (FE)
modeling employs for stress analysis in different load conditions.
Since mechanical testing of expensive textile carbon composites with
specific application isn't affordable, simulation composite in a virtual
environment is a helpful way to investigate its mechanical properties
in different conditions.
Abstract: Background: Worldwide, at least 2.8 million people
die each year as a result of being overweight or obese, and 35.8
million (2.3%) of global DALYs are caused by overweight or
obesity. Obesity is acknowledged as one of the burning public
health problems reducing life expectancy and quality of life. The
body composition analysis of the university population is essential
in assessing the nutritional status, as well as the risk of developing
diseases associated with abnormal body fat content so as to make
nutritional recommendations. Objectives: The main aim was to
determine the prevalence of obesity and overweight in University
students using Anthropometric analysis and BIA methods. Material
and Methods: In this cross-sectional study, 283 university students
participated. The body composition analysis was undertaken by
using mainly: i) Anthropometric Measurement: Height, Weight,
BMI, waist circumference, hip circumference and skin fold
thickness, ii) Bio-electrical impedance was used for analysis of
body fat mass, fat percent and visceral fat which was measured by
Tanita SC-330P Professional Body Composition Analyzer. The
data so collected were compiled in MS Excel and analyzed for
males and females using SPSS 16. Results and Discussion: The
mean age of the male (n= 153) studied subjects was 25.37 ±2.39
years and females (n=130) was 22.53 ±2.31. The data of BIA
revealed very high mean fat per cent of the female subjects i.e.
30.3±6.5 per cent whereas mean fat per cent of the male subjects
was 15.60±6.02 per cent indicating a normal body fat range. The
findings showed high visceral fat of both males (12.92±3.02) and
females (16.86±4.98). BMI, BF% and WHR were higher among
females, and BMI was higher among males. The most evident
correlation was verified between BF% and WHR for female
students (r=0.902; p
Abstract: Family is a basic unit of the society and the main
source of human development. The initial aim of the family is
psychological and social support of its members and has special
developmental stages. Researches show the families who have less
cohesion, have more conflicts and maladjustments and the members
of such families are not able to communicate effectively. Family is a
system in which any inter communication is related to child rearing
patterns and can affect it. Even the child rearing styles in childhood
can determine the family communications in adulthood. Therefore,
the aim of the present research was to examine the relationship
between child-rearing styles including authoritative, authoritarian and
permissive with dimensions of family communication patterns
including the conversation and conformity. The research design was a
correlational and the population consisted of the psychology students
of Roudehen Islamic Azad University who were studying in
academic year 2013-2014. A sample of 324 students was selected
randomly from the population. The research tools were the Baumrind
Child-rearing Questionnaires and Family Communication
Patterns Inventory, The Revised Scale of Koerner and Fitzpatrick.
The result was as below: (a) there was a positive and significant
relationship between conversation orientation and authoritative style.
(b) There was no significant relationship between conversation
orientation and other child-rearing styles. (c) There was a negative
significant relationship between conformity orientation and
authoritative style. (d) There was a positive significant relationship
between conformity orientation with authoritarian and permissive
styles. (e) There was a significant relationship between 3 dimensions
of child-rearing and communication patterns.
Abstract: The paper presents new results concerning selection of
optimal information fusion formula for ensembles of C-OTDR
channels. The goal of information fusion is to create an integral
classificator designed for effective classification of seismoacoustic
target events. The LPBoost (LP-β and LP-B variants), the Multiple
Kernel Learning, and Weighing of Inversely as Lipschitz Constants
(WILC) approaches were compared. The WILC is a brand new
approach to optimal fusion of Lipschitz Classifiers Ensembles.
Results of practical usage are presented.
Abstract: Experimental studies to investigate the depth of the
scour conducted at a side-weir intersection located at the 1800 curved
flume which located Hydraulic Laboratory of Yıldız Technical
University, Istanbul, Turkey. Side weirs were located at the middle of
the straight part of the main channel. Three different lengths (25, 40
and 50 cm) and three different weir crest height (7, 10 and 12 cm) of
the side weir placed on the side weir station. There is no scour when
the material is only kaolin. Therefore, the cohesive bed was prepared
by properly mixing clay material (kaolin) with 31% sand in all
experiments. Following 24h consolidation time, in order to observe
the effect of flow intensity on the scour depth, experiments were
carried out for five different upstream Froude numbers in the range of
0.33-0.81.
As a result of this study the relation between scour depth and
upstream flow intensity as a function of time have been established.
The longitudinal velocities decreased along the side weir; towards the
downstream due to overflow over the side-weirs. At the beginning,
the scour depth increases rapidly with time and then asymptotically
approached constant values in all experiments for all side weir
dimensions as in non-cohesive sediment. Thus, the scour depth
reached equilibrium conditions. Time to equilibrium depends on the
approach flow intensity and the dimensions of side weirs. For
different heights of the weir crest, dimensionless scour depths
increased with increasing upstream Froude number. Equilibrium
scour depths which formed 7 cm side-weir crest height were obtained
higher than that of the 12 cm side-weir crest height. This means when
side-weir crest height increased equilibrium scour depths decreased.
Although the upstream side of the scour hole is almost vertical, the
downstream side of the hole is inclined.
Abstract: Chitosan functionalized Fe3O4-Au core shell
nanoparticles have been prepared using a two-step wet chemical
approach using NaBH4 as reducing agent for formation of Au in
ethylene glycol. X-ray diffraction studies shows individual phases of
Fe3O4 and Au in the as prepared samples with crystallite size of 5.9
and 11.4 nm respectively. The functionalization of the core-shell
nanostructure with Chitosan has been confirmed using Fourier
transform infrared spectroscopy along with signatures of octahedral
and tetrahedral sites of Fe3O4 below 600cm-1. Mössbauer
spectroscopy shows decrease in particle-particle interaction in
presence of Au shell (72% sextet) than pure oleic coated Fe3O4
nanoparticles (88% sextet) at room temperature. At 80K, oleic acid
coated Fe3O4 shows only sextets whereas the Chitosan functionalized
Fe3O4 and Chitosan functionalized Fe3O4@Au core shell show
presence of 5 and 11% doublet, respectively.
Abstract: This study aimed to investigate the magnetic resonance
(MR) signal enhancement ratio (ER) of contrast-enhanced MR
angiography (CE-MRA) in normal rats with gadobenate dimeglumine
(Gd-BOPTA) using a clinical 3T scanner and an extremity coil. The
relaxivities of Gd-BOPTA with saline only and with 4.5% human
serum albumin (HSA) were also measured. Compared with
Gadolinium diethylenetriaminepentaacetic acid (Gd-DTPA),
Gd-BOPTA had higher relaxivities. The maximum ER of aorta (ERa),
kidney, liver and muscle with Gd-BOPTA were higher than those with
Gd-DTPA. The maximum ERa appeared at 1.2 min and decayed to half
at 10 min after Gd-BOPTA injection. This information is helpful for
the design of CE-MRA study of rats.
Abstract: Many water desalination technologies have been
developed but in general they are energy intensive and have high cost
and adverse environmental impact. Recently, adsorption technology
for water desalination has been investigated showing the potential of
using low temperature waste heat (50-85oC) thus reducing energy
consumption and CO2 emissions. This work mathematically
compares the performance of an adsorption cycle that produces two
useful effects namely, fresh water and cooling using two different
adsorbents, silica-gel and an advanced zeolite material AQSOA-ZO2,
produced by Mitsubishi plastics. It was found that at low chilled
water temperatures, typically below 20oC, the AQSOA-Z02 is more
efficient than silica-gel as the cycle can produce 5.8 m3 of fresh water
per day and 50.1 Rton of cooling per tonne of AQSOA-ZO2. Above
20oC silica-gel is still better as the cycle production reaches 8.4 m3
per day and 62.4 Rton per tonne of silica-gel. These results show the
potential of using the AQSOA-Z02 at low chilled water temperature
for water desalination and cooling applications.
Abstract: Al6061 alloy base matrix, reinforced with particles of
silicon carbide (10 wt %) and Graphite powder (1wt%), known as
hybrid composites have been fabricated by liquid metallurgy route
(stir casting technique) and optimized at different parameters like
applied load, sliding speed and sliding distance by taguchi method. A
plan of experiment generated through taguchi technique was used to
perform experiments based on L27 orthogonal array. The developed
ANOVA and regression equations are used to find the optimum
coefficient of friction and wear under the influence of applied load,
sliding speed and sliding distance. On the basis of “smaller the best”
the dry sliding wear resistance was analysed and finally confirmation
tests were carried out to verify the experimental results.
Abstract: Fabric textures are very common in our daily life.
However, the representation of fabric textures has never been explored
from neuroscience view. Theoretical studies suggest that primary
visual cortex (V1) uses a sparse code to efficiently represent natural
images. However, how the simple cells in V1 encode the artificial
textures is still a mystery. So, here we will take fabric texture as
stimulus to study the response of independent component analysis that
is established to model the receptive field of simple cells in V1. We
choose 140 types of fabrics to get the classical fabric textures as
materials. Experiment results indicate that the receptive fields of
simple cells have obvious selectivity in orientation, frequency and
phase when drifting gratings are used to determine their tuning
properties. Additionally, the distribution of optimal orientation and
frequency shows that the patch size selected from each original fabric
image has a significant effect on the frequency selectivity.
Abstract: Purpose: The study aimed to assess the depressant or
antidepressant effects of several Nonsteroidal Anti-Inflammatory
Drugs (NSAIDs) in mice: the selective cyclooxygenase-2 (COX-2)
inhibitor meloxicam, and the non-selective COX-1 and COX-2
inhibitors lornoxicam, sodium metamizole, and ketorolac. The
current literature data regarding such effects of these agents are
scarce.
Materials and methods: The study was carried out on NMRI mice
weighing 20-35 g, kept in a standard laboratory environment. The
study was approved by the Ethics Committee of the University of
Medicine and Pharmacy „Carol Davila”, Bucharest. The study agents
were injected intraperitoneally, 10 mL/kg body weight (bw) 1 hour
before the assessment of the locomotor activity by cage testing (n=10
mice/ group) and 2 hours before the forced swimming tests (n=15).
The study agents were dissolved in normal saline (meloxicam,
sodium metamizole), ethanol 11.8% v/v in normal saline (ketorolac),
or water (lornoxicam), respectively. Negative and positive control
agents were also given (amitryptilline in the forced swimming test).
The cage floor used in the locomotor activity assessment was divided
into 20 equal 10 cm squares. The forced swimming test involved
partial immersion of the mice in cylinders (15/9cm height/diameter)
filled with water (10 cm depth at 28C), where they were left for 6
minutes. The cage endpoint used in the locomotor activity assessment
was the number of treaded squares. Four endpoints were used in the
forced swimming test (immobility latency for the entire 6 minutes,
and immobility, swimming, and climbing scores for the final 4
minutes of the swimming session), recorded by an observer that was
„blinded” to the experimental design. The statistical analysis used the
Levene test for variance homogeneity, ANOVA and post-hoc
analysis as appropriate, Tukey or Tamhane tests.
Results: No statistically significant increase or decrease in the
number of treaded squares was seen in the locomotor activity
assessment of any mice group. In the forced swimming test,
amitryptilline showed an antidepressant effect in each experiment, at
the 10 mg/kg bw dosage. Sodium metamizole was depressant at 100
mg/kg bw (increased the immobility score, p=0.049, Tamhane test),
but not in lower dosages as well (25 and 50 mg/kg bw). Ketorolac
showed an antidepressant effect at the intermediate dosage of 5
mg/kg bw, but not so in the dosages of 2.5 and 10 mg/kg bw,
respectively (increased the swimming score, p=0.012, Tamhane test).
Meloxicam and lornoxicam did not alter the forced swimming
endpoints at any dosage level.
Discussion: 1) Certain NSAIDs caused changes in the forced
swimming patterns without interfering with locomotion. 2) Sodium
metamizole showed a depressant effect, whereas ketorolac proved
antidepressant. Conclusion: NSAID-induced mood changes are not
class effects of these agents and apparently are independent of the
type of inhibited cyclooxygenase (COX-1 or COX-2).
Disclosure: This paper was co-financed from the European Social
Fund, through the Sectorial Operational Programme Human Resources Development 2007-2013, project number POSDRU /159
/1.5 /S /138907 "Excellence in scientific interdisciplinary research,
doctoral and postdoctoral, in the economic, social and medical fields
-EXCELIS", coordinator The Bucharest University of Economic
Studies.
Abstract: Advanced treatments such as forward osmosis (FO)
can be used to separate or reject nutrients from secondary treated
effluents. Forward osmosis uses the chemical potential across the
membrane, which is the osmotic pressure gradient, to induce water to
flow through the membrane from a feed solution (FS) into a draw
solution (DS). The performance of FO is affected by the membrane
characteristics, composition of the FS and DS, and operating
conditions. The aim of this study was to investigate the optimum
velocity and temperature for nutrient rejection and water flux
performance in FO treatments. MgCl2 was used as the DS in the FO
process. The results showed that higher cross flow velocities yielded
higher water fluxes. High rejection of nutrients was achieved by using
a moderate cross flow velocity at 0.25 m/s. Nutrient rejection was
insensitive to temperature variation, whereas water flux was
significantly impacted by it. A temperature of 25°C was found to be
good for nutrient rejection.
Abstract: Brass terminal, one of the several crude oil and
petroleum products storage/handling facilities in the Niger Delta was
built in the 1980s. Activities at this site, over the years, released
crude oil into this 3 m-deep, 1500 m-long canal lying adjacent to the
terminal with oil floating on it and its sediment heavily polluted. To
ensure effective clean-up, three major activities were planned: site
characterization, bioremediation pilot plant construction and testing
and full-scale bioremediation of contaminated sediment / bank soil by
land farming. The canal was delineated into 12 lots and each
characterized, with reference to the floating oily phase, contaminated
sediment and canal bank soil. As a result of site characterization, a
pilot plant for on-site bioremediation was designed and a treatment
basin constructed for carrying out pilot bioremediation test.
Following a designed sampling protocol, samples from this pilot
plant were collected for analysis at two laboratories as a quality
assurance / quality control check. Results showed that Brass Canal
upstream is contaminated with dark, thick and viscous oily film with
characteristic hydrocarbon smell while downstream, thin oily film
interspersed with water was observed. Sediments were observed to be
dark with mixture of brownish sandy soil with TPH ranging from
17,800 mg/kg in Lot 1 to 88,500 mg/kg in Lot 12 samples. Brass
Canal bank soil was observed to be sandy from ground surface to 3m,
below ground surface (bgs) it was silty-sandy and brownish while
subsurface soil (4-10m bgs) was sandy-clayey and whitish/grayish
with typical hydrocarbon smell. Preliminary results obtained so far
have been very promising but were proprietary. This project is
considered, to the best of technical literature knowledge, the first
large-scale on-site bioremediation project in the Niger Delta region,
Nigeria.
Abstract: The concentrations of heavy metals in sediments of
Qua Iboe River Estuary (QIRE) were monitored at four different
sampling locations in wet and dry seasons. A preliminary survey to
determine the four sampling stations along the river continuum
showed that the area spanned between
Abstract: In this paper, we propose a system for preventing gas
risks through the use of wireless communication modules and
intelligent gas safety appliances. Our system configuration consists of
an automatic extinguishing system, detectors, a wall-pad, and a
microcomputer controlled micom gas meter to monitor gas flow and
pressure as well as the occurrence of earthquakes. The automatic fire
extinguishing system checks for both combustible gaseous leaks and
monitors the environmental temperature, while the detector array
measures smoke and CO gas concentrations. Depending on detected
conditions, the micom gas meter cuts off an inner valve and generates
a warning, the automatic fire-extinguishing system cuts off an external
valve and sprays extinguishing materials, or the sensors generate
signals and take further action when smoke or CO are detected.
Information on intelligent measures taken by the gas safety appliances
and sensors are transmitted to the wall-pad, which in turn relays this as
real time data to a server that can be monitored via an external network
(BcN) connection to a web or mobile application for the management
of gas safety. To validate this smart-home gas management system, we
field-tested its suitability for use in Korean apartments under several
scenarios.
Abstract: To understand the friction stir welding process, it is
very important to know the nature of the material flow in and around
the tool. The process is a combination of both thermal as well as
mechanical work i.e. it is a coupled thermo-mechanical process.
Numerical simulations are very much essential in order to obtain a
complete knowledge of the process as well as the physics underlying
it. In the present work a model based approach is adopted in order to
study material flow. A thermo-mechanical based CFD model is
developed using a Finite Element package, Comsol Multiphysics.
The fluid flow analysis is done. The model simultaneously predicts
shear strain fields, shear strain rates and shear stress over the entire
workpiece for the given conditions. The flow fields generated by the
streamline plot give an idea of the material flow. The variation of
dynamic viscosity, velocity field and shear strain fields with various
welding parameters is studied. Finally the result obtained from the
above mentioned conditions is discussed elaborately and concluded.