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: Meeting the growth in demand for digital services
such as social media, telecommunications, and business and cloud
services requires large scale data centres, which has led to an increase
in their end use energy demand. Generally, over 30% of data centre
power is consumed by the necessary cooling overhead. Thus energy
can be reduced by improving the cooling efficiency. Air and liquid
can both be used as cooling media for the data centre. Traditional
data centre cooling systems use air, however liquid is recognised as a
promising method that can handle the more densely packed data
centres. Liquid cooling can be classified into three methods; rack heat
exchanger, on-chip heat exchanger and full immersion of the
microelectronics. This study quantifies the improvements of heat
transfer specifically for the case of immersed microelectronics by
varying the CPU and heat sink location. Immersion of the server is
achieved by filling the gap between the microelectronics and a water
jacket with a dielectric liquid which convects the heat from the CPU
to the water jacket on the opposite side. Heat transfer is governed by
two physical mechanisms, which is natural convection for the fixed
enclosure filled with dielectric liquid and forced convection for the
water that is pumped through the water jacket. The model in this
study is validated with published numerical and experimental work
and shows good agreement with previous work. The results show that
the heat transfer performance and Nusselt number (Nu) is improved
by 89% by placing the CPU and heat sink on the bottom of the
microelectronics enclosure.
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: Previous studies on financial distress prediction choose
the conventional failing and non-failing dichotomy; however, the
distressed extent differs substantially among different financial
distress events. To solve the problem, “non-distressed”, “slightlydistressed”
and “reorganization and bankruptcy” are used in our article
to approximate the continuum of corporate financial health. This paper
explains different financial distress events using the two-stage method.
First, this investigation adopts firm-specific financial ratios, corporate
governance and market factors to measure the probability of various
financial distress events based on multinomial logit models.
Specifically, the bootstrapping simulation is performed to examine the
difference of estimated misclassifying cost (EMC). Second, this work
further applies macroeconomic factors to establish the credit cycle
index and determines the distressed cut-off indicator of the two-stage
models using such index. Two different models, one-stage and
two-stage prediction models are developed to forecast financial
distress, and the results acquired from different models are compared
with each other, and with the collected data. The findings show that the
one-stage model has the lower misclassification error rate than the
two-stage model. The one-stage model is more accurate than the
two-stage model.
Abstract: Power systems are operating under stressed condition
due to continuous increase in demand of load. This can lead to
voltage instability problem when face additional load increase or
contingency. In order to avoid voltage instability suitable size of
reactive power compensation at optimal location in the system is
required which improves the load margin. This work aims at
obtaining optimal size as well as location of compensation in the 39-
bus New England system with the help of Bacteria Foraging and
Genetic algorithms. To reduce the computational time the work
identifies weak candidate buses in the system, and then picks only
two of them to take part in the optimization. The objective function is
based on a recently proposed voltage stability index which takes into
account the weighted average sensitivity index is a simpler and faster
approach than the conventional CPF algorithm. BFOA has been
found to give better results compared to GA.
Abstract: Africa enjoys some of the best solar radiation levels in
the world averaging between 4-6 kWh/m2/day for most of the year
and the global economic and political conditions that tend to make
African countries more dependent on their own energy resources
have caused growing interest in renewable energy based
technologies. However to-date, implementation of modern Energy
Technologies in Africa is still very low especially the use of solar
conversion technologies. This paper presents literature review and
analysis relating to the techno-economic feasibility of solar
photovoltaic power generation in Africa. The literature is basically
classified into the following four main categories. Techno-economic
feasibility of solar photovoltaic power generation, design methods,
performance evaluations of various systems and policy of potential
future of technological development of photovoltaic (PV) in Africa
by exploring the impact of alternative policy instruments and
technology cost reductions on the financial viability of investing solar
photovoltaic in Africa.
Abstract: Skin aging is a slow multifactorial process influenced
by both internal as well as external factors. Ultra-violet radiations
(UV), diet, smoking and personal habits are the most common
environmental factors that affect skin aging. Fat contents and fibrous
proteins as collagen and elastin are core internal structural
components. The direct influence of UV on elastin integrity and
health is central on aging of skin especially by time. The deposition
of abnormal elastic material is a major marker in a photo-aged skin.
Searching for compounds that may protect against cutaneous photodamage
is exceedingly valued. Retinoids and alpha hydroxy acids
have been endorsed by some researchers as possible candidates for
protecting and or repairing the effect of UV damaged skin. For
consolidating a better system of anti- and protective effects of such
anti-aging agents, we evaluated the combinatory effects of various
dosages of lactic acid and retinol on the dermal fibroblast’s elastin
levels exposed to UV. The UV exposed cells showed significant
reduction in the elastin levels. A combination of drugs with a higher
concentration of lactic acid (30 -35 mM) and a lower concentration of
retinol (10-15mg/mL) showed to work better in maintaining elastin
concentration in UV exposed cells. We assume this preservation
could be the result of increased tropo-elastin gene expression
stimulated by retinol whereas lactic acid probably repaired the UV
irradiated damage by enhancing the amount and integrity of the
elastin fibers.
Abstract: In this paper, effects of using Alumina-water
nanofluid on the rate of heat transfer have been investigated
numerically. Physical model is a square enclosure with insulated top
and bottom horizontal walls, while the vertical walls are kept at
different constant temperatures. Two appropriate models are used to
evaluate the viscosity and thermal conductivity of nanofluid. The
governing stream-vorticity equations are solved using a second order
central finite difference scheme, coupled to the conservation of mass
and energy. The study has been carried out for the Richardson
number 0.1 to 10 and the solid volume fraction 0 to 0.04. Results are
presented by isotherms lines, average Nusselt number and normalized
Nusselt number in different range of φ and Ri for forced, combined
and natural convection dominated regime. It is found that higher heat
transfer rate is predicted when the effects of nanoparticle is taken into
account.
Abstract: This paper analyzes the political and economic issues
that people with disabilities face related to globalization; how people
with disabilities have been adapting globalization and surviving under
worldwide competition system. It explains that economic
globalization exacerbates inequality and deprivation of people with
disabilities. The rising tide of neo-liberal welfare policies emphasized
efficiency, downsized social expenditure for people with disabilities,
excluded people with disabilities against labor market, and shifted
them from welfare system to nothing. However, there have been
people with disabilities' political responses to globalization, which are
characterized by a global network of people with disabilities as well as
participation to global governance. Their resistance can be seen as an
attempt to tackle the problems that economic globalization has
produced. It is necessary paradigm shift of disability policy from
dependency represented by disability benefits to independency
represented by labor market policies for people with disabilities.
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: The purpose of this study is to investigate the kinematic
characteristics and differences of the snatch barbell trajectory of 53 kg
class female weight lifters. We take the 2014 Taiwan College Cup
players as examples, and tend to make kinematic applications through
the proven weightlifting barbell track system. The competition videos
are taken by consumer camcorder with a tripod which set up at the side
of the lifter. The results will be discussed in three parts, the first part is
various lifting phase, the second part is the compare lifting between
success and unsuccessful, and the third part is to compare the
outstanding player with the general. Conclusion through the barbell
can be used to observe the trajectories of our players lifting the usual
process cannot be observed in the presence of malfunction or habits, so
that the coach can find the problem and guide the players more
accurately. Our system can be applied in practice and competition to
increase the resilience of the lifter on the field.
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: In this paper, reliable consensus of multi-agent systems
with sampled-data is investigated. By using a suitable
Lyapunov-Krasovskii functional and some techniques such as
Wirtinger Inequality, Schur Complement and Kronecker Product, the
results of such system are obtained by solving a set of Linear Matrix
Inequalities (LMIs). One numerical example is included to show the
effectiveness of the proposed criteria.
Abstract: The mixed micellization of adiphenine hydrochloride (ADP) with 1-decyl-3-methylimidazolium chloride (C10mim.Cl), was investigated at different mole fractions and temperatures by surface tension measurements. The synergistic behavior (i.e., non-ideal behavior) for binary mixtures was explained by the deviation of critical micelle concentration (cmc) from ideal critical micelle concentration (cmc*), micellar mole fraction (Xim) from ideal micellar mole fraction (Xiideal), the values of interaction parameter (β) and activity coefficients (fi) (for both mixed micelles and mixed monolayer). The excess free energy (ΔGex) for the ADP- C10mim.Cl binary mixtures explain the stability of mixed micelles in comparison to micelles of pure ADP and C10mim.Cl. Interfacial parameters, i.e., Gibbs surface excess (Гmax), minimum head group area at air/ water
interface (Amin), and free energy of micellization (ΔG0m) were also evaluated for the systems.
Abstract: In the paper, information on economic development
trends in developed countries are analyzed. The current status of
information society and economy of the country is reviewed and
some recommendations are given for future development.
The problems of Information Society and establishment of its
innovative economy are studied. In this turn, development trends
information economy in developed countries are analyzed.
Abstract: Carbon Deposits are often occurred inside the
industrial coke oven during coking process. Accumulation of carbon
deposits may cause a big issue, which seriously influences the coking
operation. The carbon is burning off by injecting fresh air through
pipes into coke oven which is an efficient way practically operated in
industries. The burning off carbon deposition in coke oven performed
by Computational Fluid Dynamics (CFD) method has provided an
evaluation of the feasibility study. A three dimensional, transient,
turbulent reacting flow simulation has performed with three different
injecting air flow rate and another kind of injecting configuration. The
result shows that injection higher air flow rate would effectively
reduce the carbon deposits. In the meantime, the opened charging
holes would suck extra oxygen from atmosphere to participate in
reactions. In term of coke oven operating limits, the wall temperatures
are monitored to prevent over-heating of the adiabatic walls during
burn-off process.
Abstract: This paper presents two techniques, local feature
extraction using image spectrum and low frequency spectrum
modelling using GMM to capture the underlying statistical
information to improve the performance of face recognition
system. Local spectrum features are extracted using overlap sub
block window that are mapped on the face image. For each of this
block, spatial domain is transformed to frequency domain using
DFT. A low frequency coefficient is preserved by discarding high
frequency coefficients by applying rectangular mask on the
spectrum of the facial image. Low frequency information is non-
Gaussian in the feature space and by using combination of several
Gaussian functions that has different statistical properties, the best
feature representation can be modelled using probability density
function. The recognition process is performed using maximum
likelihood value computed using pre-calculated GMM components.
The method is tested using FERET datasets and is able to achieved
92% recognition rates.
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.