Abstract: This paper presents the trajectory tracking control of a
spatial redundant hybrid manipulator. This manipulator consists of
two parallel manipulators which are a variable geometry truss (VGT)
module. In fact, each VGT module with 3-degress of freedom (DOF)
is a planar parallel manipulator and their operational planes of these
VGT modules are arranged to be orthogonal to each other. Also, the
manipulator contains a twist motion part attached to the top of the
second VGT module to supply the missing orientation of the endeffector.
These three modules constitute totally 7-DOF hybrid
(parallel-parallel) redundant spatial manipulator. The forward
kinematics equations of this manipulator are obtained, then,
according to these equations, the inverse kinematics is solved based
on an optimization with the joint limit avoidance. The dynamic
equations are formed by using virtual work method. In order to test
the performance of the redundant manipulator and the controllers
presented, two different desired trajectories are followed by using the
computed force control method and a switching control method. The
switching control method is combined with the computed force
control method and genetic algorithm. In the switching control
method, the genetic algorithm is only used for fine tuning in the
compensation of the trajectory tracking errors.
Abstract: Software vulnerabilities are increasing and not only impact services and processes availability as well as information confidentiality, integrity and privacy, but also cause changes that interfere in the development process. Security test could be a solution to reduce vulnerabilities. However, the variety of test techniques with the lack of real case studies of applying tests focusing on software development life cycle compromise its effective use. This paper offers an overview of how a Systematic Mapping Study (MS) about security verification, validation and test (VVT) was performed, besides presenting general results about this study.
Abstract: Introduction: Craniopharyngiomas (CPs) are rare epithelial tumors located mainly in the sellar/parasellar region. CPs have been classified histopathologically, genetically, clinically and prognostically into two distinctive subtypes: adamantinomatous and papillary variants. Aim: To examine the pattern of expression of both the β-catenin and epidermal growth factor receptor (EGFR) in surgically resected samples of adamantinomatous CP, and to asses for the possibility of using anti-EGFR in the management of ACP patients. Materials and methods: β-catenin and EGFR immunostaining was performed on paraffin-embedded tissue sections of 18 ACP cases. Result: 17 out of 18 cases (94%) of ACP exhibited strong nuclear/cytoplasmic expression of β-catenin, 15 (83%) of APC cases were positive for EGFR. Conclusion: Nuclear accumulation of β-catenin is a diagnostic hallmark of ACP. EGFR positivity in most cases of ACP could qualify the use of anti-EGFR therapy.
Abstract: During an earthquake, a bridge crane may be
subjected to multiple impacts between crane wheels and rail. In order
to model such phenomena, a time-history dynamic analysis with a
multi-scale approach is performed. The high frequency aspect of the
impacts between wheels and rails is taken into account by a Lagrange
explicit event-capturing algorithm based on a velocity-impulse
formulation to resolve contacts and impacts. An implicit temporal
scheme is used for the rest of the structure. The numerical coupling
between the implicit and the explicit schemes is achieved with a
heterogeneous asynchronous time-integrator.
Abstract: Within Vietnam's system of higher education, its
schools of business play a vital role in supporting the country’s
economic objectives. However, the crucial contribution of soft skills
for maximal success within the business sector has to date not been
adequately recognized by its business schools. This being so, the
development of the business school curriculum in Vietnam has not
been able to 'catch up', so to say, with the burgeoning need of
students for a comprehensive soft skills program designed to meet the
national and global business objectives of their potential employers.
The burden of the present paper is first to reveal the results of our
survey in Vietnam which make explicit the extent to which major
Vietnamese industrial employers’ value the potential role that soft
skill competencies can play in maximizing business success. Our
final task will be to determine which soft skills employers discern as
best serving to maximize the economic interests of Vietnam within
the global marketplace. Semi-structured telephone interviews have
been conducted with the 15 representative Head Employers of
Vietnam's reputedly largest and most successful of the diverse
business enterprises across Vietnam. The findings of the study
indicate that all respondents highly value the increasing importance
of soft skills in business success. Our critical analysis of respondent
data reveals that 19 essential soft skills are deemed by employers as
integral to business workplace efficacy and should thus be integrated
into the formal business curriculum. We are confident that our study
represents the first comprehensive and specific survey yet undertaken
within the business sector in Vietnam which accesses and analyses
the opinions of representative employers from major companies
across the country in regard to the growing importance of 19 specific
soft skills essential for maximizing overall business success. Our
research findings also reveal that the integration into business school
curriculums nationwide of the soft skills we have identified is of
paramount importance to advance the national and global economic
interests of Vietnam.
Abstract: Connected vehicles are equipped with wireless sensors
that aid in Vehicle to Vehicle (V2V) and Vehicle to Infrastructure
(V2I) communication. These vehicles will in the near future
provide road safety, improve transport efficiency, and reduce traffic
congestion. One of the challenges for connected vehicles is how
to ensure that information sent across the network is secure. If
security of the network is not guaranteed, several attacks can occur,
thereby compromising the robustness, reliability, and efficiency of
the network. This paper discusses existing security mechanisms and
unique properties of connected vehicles. The methodology employed
in this work is exploratory. The paper reviews existing security
solutions for connected vehicles. More concretely, it discusses
various cryptographic mechanisms available, and suggests areas
of improvement. The study proposes a combination of symmetric
key encryption and public key cryptography to improve security.
The study further proposes message aggregation as a technique to
overcome message redundancy. This paper offers a comprehensive
overview of connected vehicles technology, its applications, its
security mechanisms, open challenges, and potential areas of future
research.
Abstract: Classification is an important data mining technique
and could be used as data filtering in artificial intelligence. The
broad application of classification for all kind of data leads to be
used in nearly every field of our modern life. Classification helps us
to put together different items according to the feature items decided
as interesting and useful. In this paper, we compare two
classification methods Naïve Bayes and ADTree use to detect spam
e-mail. This choice is motivated by the fact that Naive Bayes
algorithm is based on probability calculus while ADTree algorithm is
based on decision tree. The parameter settings of the above
classifiers use the maximization of true positive rate and
minimization of false positive rate. The experiment results present
classification accuracy and cost analysis in view of optimal classifier
choice for Spam Detection. It is point out the number of attributes to
obtain a tradeoff between number of them and the classification
accuracy.
Abstract: Imazu Bay plays an important role for endangered
species such as horseshoe crabs and black-faced spoonbills that stay in
the bay for spawning or the passing of winter. However, this bay is
semi-enclosed with slow water exchange, which could lead to
eutrophication under the condition of excess nutrient inflow to the bay.
Therefore, quantification of nutrient inflow is of great importance.
Generally, analysis of nutrient inflow to the bays takes into
consideration nutrient inflow from only the river, but that from
groundwater should not be ignored for more accurate results. The main
objective of this study is to estimate the amounts of nutrient inflow
from river and groundwater to Imazu Bay by analyzing water budget
in Zuibaiji River Basin and loads of T-N, T-P, NO3-N and NH4-N. The
water budget computation in the basin is performed using groundwater
recharge model and quasi three-dimensional two-phase groundwater
flow model, and the multiplication of the measured amount of nutrient
inflow with the computed discharge gives the total amount of nutrient
inflow to the bay. In addition, in order to evaluate nutrient inflow to the
bay, the result is compared with nutrient inflow from geologically
similar river basins. The result shows that the discharge is 3.50×107
m3/year from the river and 1.04×107 m3/year from groundwater. The
submarine groundwater discharge accounts for approximately 23 % of
the total discharge, which is large compared to the other river basins. It
is also revealed that the total nutrient inflow is not particularly large.
The sum of NO3-N and NH4-N loadings from groundwater is less than
10 % of that from the river because of denitrification in groundwater.
The Shin Seibu Sewage Treatment Plant located below the observation
points discharges treated water of 15,400 m3/day and plans to increase
it. However, the loads of T-N and T-P from the treatment plant are 3.9
mg/L and 0.19 mg/L, so that it does not contribute a lot to
eutrophication.
Abstract: The housing industry is crucial for sustainable
development of every country. Housing is a basic need that can
enhance the quality of life. Owning a house is therefore the main aim
of individuals. However, affordability has become a critical issue
towards homeownership. In recent years, housing price in the main
cities has increased tremendously to unaffordable level. This paper
investigates factors influencing the housing price from developer’s
perspective and provides recommendation on strategies to tackle this
issue. Online and face-to-face survey was conducted on housing
developers operating in Penang, Malaysia. The results indicate that
(1) location; (2) macroeconomics factor; (3) demographic factors; (4)
land/zoning and; (5) industry factors are the main factors influencing
the housing price. This paper contributes towards better
understanding on developers’ view on how the housing price is
determined and form a basis for government to help tackle the
housing affordability issue.
Abstract: Waste polyethylene (PE) is classified as waste low
density polyethylene (LDPE) and waste high density polyethylene
(HDPE) according to their densities. Pyrolysis of plastic waste may
have an important role in dealing with the enormous amounts of
plastic waste produced all over the world, by decreasing their
negative impact on the environment. This waste may be converted
into economically valuable hydrocarbons, which can be used both as
fuels and as feed stock in the petrochemical industry. End product
yields and properties depend on the plastic waste composition.
Pyrolytic biochar is one of the most important products of waste
plastics pyrolysis. In this study, HDPE and LDPE plastic wastes were
co-pyrolyzed together with waste olive pomace. Pyrolysis runs were
performed at temperature 700°C with heating rates of 5°C/min.
Higher pyrolysis oil and gas yields were observed by the using waste
olive pomace. The biochar yields of HDPE- olive pomace and LDPEolive
pomace were 6.37% and 7.26% respectively for 50% olive
pomace doses. The calorific value of HDPE-olive pomace and
LDPE-olive pomace of pyrolysis oil were 8350 and 8495 kCal.
Abstract: The development of numerical analysis and its
application to geomechanics problems have provided geotechnical
engineers with extremely powerful tools. One of the most important
problems in geotechnical engineering is the slope stability
assessment. It is a very difficult task due to several aspects such the
nature of the problem, experimental consideration, monitoring,
controlling, and assessment. The main objective of this paper is to
perform a comparative numerical study between the following
methods: The Limit Equilibrium (LEM), Finite Element (FEM),
Limit Analysis (LAM) and Distinct Element (DEM). The comparison
is conducted in terms of the safety factors and the critical slip
surfaces. Through the results, we see the feasibility to analyse slope
stability by many methods.
Abstract: The aim of this work is to present a low cost adsorbent
for removing toxic heavy metals from aqueous solutions. Therefore,
we are interested to investigate the efficiency of natural clay minerals
collected from south Tunisia and their modified form using sulfuric
acid in the removal of toxic metal ions: Zn(II) and Pb(II) from
synthetic waste water solutions. The obtained results indicate that
metal uptake is pH-dependent and maximum removal was detected to
occur at pH 6. Adsorption equilibrium is very rapid and it was
achieved after 90 min for both metal ions studied. The kinetics results
show that the pseudo-second-order model describes the adsorption
and the intraparticle diffusion models are the limiting step. The
treatment of natural clay with sulfuric acid creates more active sites
and increases the surface area, so it showed an increase of the
adsorbed quantities of lead and zinc in single and binary systems. The
competitive adsorption study showed that the uptake of lead was
inhibited in the presence of 10 mg/L of zinc. An antagonistic binary
adsorption mechanism was observed. These results revealed that clay
is an effective natural material for removing lead and zinc in single
and binary systems from aqueous solution.
Abstract: The idea of cropping-system is a method used by
farmers. It is an environmentally-friendly method, protecting the
natural resources (soil, water, air, nutritive substances) and increase
the production at the same time, taking into account some crop
particularities. The combination of this powerful method with the
concepts of genetic algorithms results into a possibility of generating
sequences of crops in order to form a rotation. The usage of this type
of algorithms has been efficient in solving problems related to
optimization and their polynomial complexity allows them to be used
at solving more difficult and various problems. In our case, the
optimization consists in finding the most profitable rotation of
cultures. One of the expected results is to optimize the usage of the
resources, in order to minimize the costs and maximize the profit. In
order to achieve these goals, a genetic algorithm was designed. This
algorithm ensures the finding of several optimized solutions of
cropping-systems possibilities which have the highest profit and,
thus, which minimize the costs. The algorithm uses genetic-based
methods (mutation, crossover) and structures (genes, chromosomes).
A cropping-system possibility will be considered a chromosome and
a crop within the rotation is a gene within a chromosome. Results
about the efficiency of this method will be presented in a special
section. The implementation of this method would bring benefits into
the activity of the farmers by giving them hints and helping them to
use the resources efficiently.
Abstract: Broadband Wireless Network (BWN) is the promising technology nowadays due to the increased number of smartphones. Buffering scheme using network coding considers the reliability and proper degree distribution in Worldwide interoperability for Microwave Access (WiMAX) multi-hop network. Using network coding, a secure way of transmission is performed which helps in improving throughput and reduces the packet loss in the multicast network. At the outset, improved network coding is proposed in multicast wireless mesh network. Considering the problem of performance overhead, degree distribution makes a decision while performing buffer in the encoding / decoding process. Consequently, BuS (Buffer Scheme) based on network coding is proposed in the multi-hop network. Here the encoding process introduces buffer for temporary storage to transmit packets with proper degree distribution. The simulation results depend on the number of packets received in the encoding/decoding with proper degree distribution using buffering scheme.
Abstract: With the increasing complexity of cyberspace security, the cyber-attack attribution has become an important challenge of the security protection systems. The difficult points of cyber-attack attribution were forced on the problems of huge data handling and key data missing. According to this situation, this paper presented a reasoning method of cyber-attack attribution based on threat intelligence. The method utilizes the intrusion kill chain model and Bayesian network to build attack chain and evidence chain of cyber-attack on threat intelligence platform through data calculation, analysis and reasoning. Then, we used a number of cyber-attack events which we have observed and analyzed to test the reasoning method and demo system, the result of testing indicates that the reasoning method can provide certain help in cyber-attack attribution.
Abstract: Edge detection is one of the most important tasks in image processing. Medical image edge detection plays an important role in segmentation and object recognition of the human organs. It refers to the process of identifying and locating sharp discontinuities in medical images. In this paper, a neuro-fuzzy based approach is introduced to detect the edges for noisy medical images. This approach uses desired number of neuro-fuzzy subdetectors with a postprocessor for detecting the edges of medical images. The internal parameters of the approach are optimized by training pattern using artificial images. The performance of the approach is evaluated on different medical images and compared with popular edge detection algorithm. From the experimental results, it is clear that this approach has better performance than those of other competing edge detection algorithms for noisy medical images.
Abstract: As transition to widespread use of IPv6 addresses has gained momentum, it has been shown to be vulnerable to certain security attacks such as those targeting Neighbor Discovery Protocol (NDP) which provides the address resolution functionality in IPv6. To protect this protocol, Secure Neighbor Discovery (SEND) is introduced. This protocol uses Cryptographically Generated Address (CGA) and asymmetric cryptography as a defense against threats on integrity and identity of NDP. Although SEND protects NDP against attacks, it is computationally intensive due to Hash2 condition in CGA. To improve the CGA computation speed, we parallelized CGA generation process and used the available resources in a trusted network. Furthermore, we focused on the influence of the existence of malicious nodes on the overall load of un-malicious ones in the network. According to the evaluation results, malicious nodes have adverse impacts on the average CGA generation time and on the average number of tries. We utilized a Trust Management that is capable of detecting and isolating the malicious node to remove possible incentives for malicious behavior. We have demonstrated the effectiveness of the Trust Management System in detecting the malicious nodes and hence improving the overall system performance.
Abstract: Lightweight construction became more and more important over the last decades in several applications, e.g. in the automotive or aircraft sector. This is the result of economic and ecological constraints on the one hand and increasing safety and comfort requirements on the other hand. In the field of lightweight design, different approaches are used due to specific requirements towards the technical systems. The use of endless carbon fiber reinforced plastics (CFRP) offers the largest weight saving potential of sometimes more than 50% compared to conventional metal-constructions. However, there are very limited industrial applications because of the cost-intensive manufacturing of the fibers and production technologies. Other disadvantages of pure CFRP-structures affect the quality control or the damage resistance. One approach to meet these challenges is hybrid materials. This means CFRP and sheet metal are combined on a material level. Therefore, new opportunities for innovative process routes are realizable. Hybrid lightweight design results in lower costs due to an optimized material utilization and the possibility to integrate the structures in already existing production processes of automobile manufacturers. In recent and current research, the advantages of two-layered hybrid materials have been pointed out, i.e. the possibility to realize structures with tailored mechanical properties or to divide the curing cycle of the epoxy resin into two steps. Current research work at the Chair for Automotive Lightweight Design (LiA) at the Paderborn University focusses on production processes for fiber-metal-laminates. The aim of this work is the development and qualification of a large-scale production process for high-performance fiber-metal-laminates (FML) for industrial applications in the automotive or aircraft sector. Therefore, the prepreg-press-technology is used, in which pre-impregnated carbon fibers and sheet metals are formed and cured in a closed, heated mold. The investigations focus e.g. on the realization of short process chains and cycle times, on the reduction of time-consuming manual process steps, and the reduction of material costs. This paper gives an overview over the considerable steps of the production process in the beginning. Afterwards experimental results are discussed. This part concentrates on the influence of different process parameters on the mechanical properties, the laminate quality and the identification of process limits. Concluding the advantages of this technology compared to conventional FML-production-processes and other lightweight design approaches are carried out.
Abstract: Operators of vessel traffic service (VTS) center provides three different types of services; namely information service, navigational assistance and traffic organization to vessels. To provide these services, operators monitor vessel traffic through computer interface and provide navigational advice based on the information integrated from multiple sources, including automatic identification system (AIS), radar system, and closed circuit television (CCTV) system. Therefore, this information is crucial in VTS operation. However, what information the VTS operator actually need to efficiently and properly offer services is unclear. The aim of this study is to investigate into information requirements for VTS operation. To achieve this aim, field observation was carried out to elicit the information requirements for VTS operation. The study revealed that the most frequent and important tasks were handling arrival vessel report, potential conflict control and abeam vessel report. Current location and vessel name were used in all tasks. Hazard cargo information was particularly required when operators handle arrival vessel report. The speed, the course, and the distance of two or several vessels were only used in potential conflict control. The information requirements identified in this study can be utilized in designing a human-computer interface that takes into consideration what and when information should be displayed, and might be further used to build the foundation of a decision support system for VTS.
Abstract: Monitoring of tool wear in milling operations is essential for achieving the desired dimensional accuracy and surface finish of a machined workpiece. Although there are numerous statistical models and artificial intelligence techniques available for monitoring the wear of cutting tools, these techniques cannot pin point which cutting edge of the tool, or which insert in the case of indexable tooling, is worn or broken. Currently, the task of monitoring the wear on the tool cutting edges is carried out by the operator who performs a manual inspection, causing undesirable stoppages of machine tools and consequently resulting in costs incurred from lost productivity. The present study is concerned with the development of a flute tracking system to segment signals related to each physical flute of a cutter with three flutes used in an end milling operation. The purpose of the system is to monitor the cutting condition for individual flutes separately in order to determine their progressive wear rates and to predict imminent tool failure. The results of this study clearly show that signals associated with each flute can be effectively segmented using the proposed flute tracking system. Furthermore, the results illustrate that by segmenting the sensor signal by flutes it is possible to investigate the wear in each physical cutting edge of the cutting tool. These findings are significant in that they facilitate the online condition monitoring of a cutting tool for each specific flute without the need for operators/engineers to perform manual inspections of the tool.