Abstract: We proposed the use of a Toda-Rayleigh ring as a
central pattern generator (CPG) for controlling hexapodal robots. We
show that the ring composed of six Toda-Rayleigh units coupled to
the limb actuators reproduces the most common hexapodal gaits. We
provide an electrical circuit implementation of the CPG and test our
theoretical results obtaining fixed gaits. Then we propose a method
of incorporation of the actuator (motor) dynamics in the CPG. With
this approach we close the loop CPG – environment – CPG, thus
obtaining a decentralized model for the leg control that does not
require higher level intervention to the CPG during locomotion in
a nonhomogeneous environments. The gaits generated by the novel
CPG are not fixed, but adapt to the current robot bahvior.
Abstract: The results of an experimental study of the process of
convective and boiling heat transfer in the vessel with stirrer for
smooth and rough ring-shaped pipes are presented. It is established
that creation of two-dimensional artificial roughness on the heated
surface causes the essential (~100%) intensification of convective
heat transfer. In case of boiling the influence of roughness appears on
the initial stage of boiling and in case of fully developed nucleate
boiling there was no intensification of heat transfer. The similitude
equation for calculating convective heat transfer coefficient, which
generalizes well experimental data both for the smooth and the rough
surfaces is proposed.
Abstract: This paper solves the Non Linear Schrodinger
Equation using the Split Step Fourier method for modeling an optical
fiber. The model generates a complex wave of optical pulses and
using the results obtained two graphs namely Loss versus
Wavelength and Dispersion versus Wavelength are generated. Taking
Chromatic Dispersion and Polarization Mode Dispersion losses into
account, the graphs generated are compared with the graphs
formulated by JDS Uniphase Corporation which uses standard values
of dispersion for optical fibers. The graphs generated when compared
with the JDS Uniphase Corporation plots were found to be more or
less similar thus verifying that the model proposed is right.
MATLAB software was used for doing the modeling.
Abstract: In the fifteenth century, the Malacca Empire emerged
as the centre of Islamic civilization in the Malay Archipelago. The
history had been recorded in Sulalat Al-Salatin, an important literary
source about the genealogy of all Kings in Malacca. The objective of
this study was to analyze the understanding of sayings from Prophet
Muhammad among Malays in Malacca during the fifteenth century
through all of the hadith quoted in Sulalat Al-Salatin. This study used
content analysis methodology to validate the sayings where all of
them were critically analyzed and compared with the classical hadith
sources from prominent Muslim scholars. As a result, only two out of
the four quotations were considered as authentic sayings of Prophet
Muhammad. This study also showed the importance of the palace as
the centre of the Islamic education system and the role played by
Muslim preachers from outside of Malacca to propagate Islam in
Malacca.
Abstract: Wireless Sensor Networks consist of small battery
powered devices with limited energy resources. once deployed, the
small sensor nodes are usually inaccessible to the user, and thus
replacement of the energy source is not feasible. Hence, One of the
most important issues that needs to be enhanced in order to improve
the life span of the network is energy efficiency. to overcome this
demerit many research have been done. The clustering is the one of
the representative approaches. in the clustering, the cluster heads
gather data from nodes and sending them to the base station. In this
paper, we introduce a dynamic clustering algorithm using genetic
algorithm. This algorithm takes different parameters into
consideration to increase the network lifetime. To prove efficiency of
proposed algorithm, we simulated the proposed algorithm compared
with LEACH algorithm using the matlab
Abstract: The adaptive backstepping controller for inverted pendulum is designed by using the general motion control model. Backstepping is a novel nonlinear control technique based on the Lyapunov design approach, used when higher derivatives of parameter estimation appear. For easy parameter adaptation, the mathematical model of the inverted pendulum converted into the motion control model. This conversion is performed by taking functions of unknown parameters and dynamics of the system. By using motion control model equations, inverted pendulum is simulated without any information about not only parameters but also measurable dynamics. Also these results are compare with the adaptive backstepping controller which extended with integral action that given from [1].
Abstract: The use of a Geographic Information System (GIS) in
roadway lighting to show the state of street-lighting and nighttime
accident is demonstrated. Geographical maps were generated
showing colored streets based on how much of the street's length is
illuminated. The night to daytime accidents ratio at intersections
were found along with the state of lighting at those intersections.
The result is a method to show the state of street-lighting at roads and
intersections and a quick guide for decision makers to implement
strategies for better street-lighting to reduce night time traffic
accidents in a particular district.
Abstract: Aiming the application of localized hyperthermia, a
magnetic induction system with new approaches is proposed. The techniques in this system for improving the effectiveness of localized hyperthermia are that using magnetic circuit and the multiple-coil array instead of a giant coil for generating magnetic field. Specially, amorphous metal is adopted as the material of magnetic circuit. Detail
design parameters of hardware are well described. Simulation tool is
employed for this work and experiment result is reported as well.
Abstract: This paper presents a general trainable framework
for fast and robust upright human face and non-human object
detection and verification in static images. To enhance the
performance of the detection process, the technique we develop is
based on the combination of fast neural network (FNN) and
classical neural network (CNN). In FNN, a useful correlation is
exploited to sustain high level of detection accuracy between input
image and the weight of the hidden neurons. This is to enable the
use of Fourier transform that significantly speed up the time
detection. The combination of CNN is responsible to verify the
face region. A bootstrap algorithm is used to collect non human
object, which adds the false detection to the training process of the
human and non-human object. Experimental results on test images
with both simple and complex background demonstrate that the
proposed method has obtained high detection rate and low false
positive rate in detecting both human face and non-human object.
Abstract: Mendelian Disease Genes represent a collection of single points of failure for the various systems they constitute. Such genes have been shown, on average, to encode longer proteins than 'non-disease' proteins. Existing models suggest that this results from the increased likeli-hood of longer genes undergoing mutations. Here, we show that in saturated mutagenesis experiments performed on model organisms, where the likelihood of each gene mutating is one, a similar relationship between length and the probability of a gene being lethal was observed. We thus suggest an extended model demonstrating that the likelihood of a mutated gene to produce a severe phenotype is length-dependent. Using the occurrence of conserved domains, we bring evidence that this dependency results from a correlation between protein length and the number of functions it performs. We propose that protein length thus serves as a proxy for protein cardinality in different networks required for the organism's survival and well-being. We use this example to argue that the collection of Mendelian Disease Genes can, and should, be used to study the rules governing systems vulnerability in living organisms.
Abstract: This paper proposes a fast tree join scheme to provide
seamless multicast handover in the mobile networks based on the Fast
Mobile IPv6 (FMIPv6). In the existing FMIPv6-based multicast
handover scheme, the bi-directional tunnelling or the remote
subscription is employed with the packet forwarding from the previous
access router (AR) to the new AR. In general, the remote subscription
approach is preferred to the bi-directional tunnelling one, since in the
remote subscription scheme we can exploit an optimized multicast
path from a multicast source to many mobile receivers. However, in
the remote subscription scheme, if the tree joining operation takes a
long time, the amount of data packets to be forwarded and buffered for
multicast handover will increase, and thus the corresponding buffer
may overflow, which results in severe packet losses. In order to reduce
these costs associated with packet forwarding and buffering, this paper
proposes the fast join to multicast tree, in which the new AR will join
the multicast tree as fast as possible, so that the new multicast data
packets can also arrive at the new AR, by which the packet forwarding
and buffering costs can be reduced. From numerical analysis, it is
shown that the proposed scheme can give better performance than the
existing FMIPv6-based multicast handover schemes in terms of the
multicast packet delivery costs.
Abstract: A model to identify the lifetime of target tracking
wireless sensor network is proposed. The model is a static clusterbased
architecture and aims to provide two factors. First, it is to
increase the lifetime of target tracking wireless sensor network.
Secondly, it is to enable good localization result with low energy
consumption for each sensor in the network. The model consists of
heterogeneous sensors and each sensing member node in a cluster
uses two operation modes–active mode and sleep mode. The
performance results illustrate that the proposed architecture consumes
less energy and increases lifetime than centralized and dynamic
clustering architectures, for target tracking sensor network.
Abstract: A new automatic system for the recognition and re¬construction of resealed and/or rotated partially occluded objects is presented. The objects to be recognized are described by 2D views and each view is occluded by several half-planes. The whole object views and their visible parts (linear cuts) are then stored in a database. To establish if a region R of an input image represents an object possibly occluded, the system generates a set of linear cuts of R and compare them with the elements in the database. Each linear cut of R is associated to the most similar database linear cut. R is recognized as an instance of the object 0 if the majority of the linear cuts of R are associated to a linear cut of views of 0. In the case of recognition, the system reconstructs the occluded part of R and determines the scale factor and the orientation in the image plane of the recognized object view. The system has been tested on two different datasets of objects, showing good performance both in terms of recognition and reconstruction accuracy.
Abstract: IPN and IPE sections, which are commonly used European I shapes, are widely used in steel structures as cantilever beams to support overhangs. A considerable number of studies exist on calculating lateral torsional buckling load of I sections. However, most of them provide series solutions or complex closed-form equations. In this paper, a simple equation is presented to calculate lateral torsional buckling load of IPN and IPE section cantilever beams. First, differential equation of lateral torsional buckling is solved numerically for various loading cases. Then a parametric study is conducted on results to present an equation for lateral torsional buckling load of European IPN and IPE beams. Finally, results obtained by presented equation are compared to differential equation solutions and finite element model results. ABAQUS software is utilized to generate finite element models of beams. It is seen that the results obtained from presented equation coincide with differential equation solutions and ABAQUS software results. It can be suggested that presented formula can be safely used to calculate critical lateral torsional buckling load of European IPN and IPE section cantilevers.
Abstract: Porcine production in China represents approximately
the 50% of the worldwide pig production. Information about pig
husbandry characteristics in China and manure properties from sows
to fatteners in intensive pig farms are not broadly available for
scientific studies as it is a time consuming, expensive task and highly
inaccessible. This study provides a report about solid pig manures
(28% dry matter) in a commercial pig farm located in the peri-urban
area of Beijing as well as a general overview of the current pig
husbandry techniques including pig breeds, feeds, diseases, housing as
well as pig manure and wastewater disposal. The main results are
intended to serve as a literature source for young scientists in order to
understand the main composition of pig manures as well as to identify
the husbandry techniques applied in an intensive pig farm in Beijing.
Abstract: As a result of the high cost of housing, the increasing population is forced to live in substandard housing and unhealthy conditions giving rise to poor residential neighborhoods. The paper examines the causes and characteristics of poor residential neighborhood. The paper finds the problems that have influence poor neighborhoods to; poverty, growth of informal sector and housing shortage. The paper asserts that poor residential neighborhoods have adverse effects on the people.
The secondary data was obtained from books, journals and seminar papers while primary data relating to building and environmental quality from structured questionnaire administered on sample of 500 household heads, from sampling frame of 5000 housing units.
The study reveals that majority of the respondents are poor and employed in informal sector. The paper suggests urban renewal and slum upgrading programs as methods in dealing with the situation and an improvement in the socio-economic circumstances of the inhabitants.
Abstract: Methods for organizing web data into groups in order
to analyze web-based hypertext data and facilitate data availability
are very important in terms of the number of documents available
online. Thereby, the task of clustering web-based document structures
has many applications, e.g., improving information retrieval on the
web, better understanding of user navigation behavior, improving web
users requests servicing, and increasing web information accessibility.
In this paper we investigate a new approach for clustering web-based
hypertexts on the basis of their graph structures. The hypertexts will
be represented as so called generalized trees which are more general
than usual directed rooted trees, e.g., DOM-Trees. As a important
preprocessing step we measure the structural similarity between the
generalized trees on the basis of a similarity measure d. Then,
we apply agglomerative clustering to the obtained similarity matrix
in order to create clusters of hypertext graph patterns representing
navigation structures. In the present paper we will run our approach
on a data set of hypertext structures and obtain good results in
Web Structure Mining. Furthermore we outline the application of
our approach in Web Usage Mining as future work.
Abstract: In automotive systems almost all steps concerning the
calibration of several control systems, e.g., low idle governor or
boost pressure governor, are made with the vehicle because the timeto-
production and cost requirements on the projects do not allow for
the vehicle analysis necessary to build reliable models. Here is
presented a procedure using parametric and NN (neural network)
models that enables the generation of vehicle system models based
on normal ECU engine control unit) vehicle measurements. These
models are locally valid and permit pre and follow-up calibrations so
that, only the final calibrations have to be done with the vehicle.
Abstract: A big organization may have multiple branches spread across different locations. Processing of data from these branches becomes a huge task when innumerable transactions take place. Also, branches may be reluctant to forward their data for centralized processing but are ready to pass their association rules. Local mining may also generate a large amount of rules. Further, it is not practically possible for all local data sources to be of the same size. A model is proposed for discovering valid rules from different sized data sources where the valid rules are high weighted rules. These rules can be obtained from the high frequency rules generated from each of the data sources. A data source selection procedure is considered in order to efficiently synthesize rules. Support Equalization is another method proposed which focuses on eliminating low frequency rules at the local sites itself thus reducing the rules by a significant amount.
Abstract: This study analyzes characteristics determining
member’s willingness to invest in cooperatives using ordered logit
model. The data were collected in a field survey among 122
cooperative members in north-central China. The descriptive analysis
of survey evidence suggests that cooperatives in China generally
having poor ability to deliver the processing services related to
product package, grading, and storage, performing worse in
profitability, inability of providing returns to capital and obtaining
agricultural loan. The regression results demonstrate that members’
farm size, their satisfaction with cooperative price preferential
services, attitudes toward cooperative operational scale and
development potential have statistically significant impact on
willingness to invest.