Abstract: In this paper, an autonomous hovering control method
of multicopter using only Web camera is proposed. Recently, various
control method of an autonomous flight for multicopter are proposed.
But, in the previous proposed methods, a motion capture system
(i. e., OptiTrack) and laser range finder are often used to measure
the position and posture of multicopter. To achieve an autonomous
flight control of multicopter with simple equipments, we propose
an autonomous flight control method using AR marker and Web
camera. AR marker can measure the position of multicopter with
Cartesian coordinate in three dimensional, then its position connects
with aileron, elevator, and accelerator throttle operation. A simple
PID control method is applied to the each operation and adjust
the controller gains. Experimental results are given to show the
effectiveness of our proposed method. Moreover, another simple
operation method for autonomous flight control multicopter is also
proposed.
Abstract: In this study, lipid-deprived residuals of microalgae
were hydrolyzed for the production of reducing sugars by using the
recombinant Bacillus cellulosome, carrying eight genes from the
Clostridium thermocellum ATCC27405. The obtained cellulosome
was found to exist mostly in the broth supernatant with a cellulosome
activity of 2.4 U/mL. Furthermore, the Michaelis-Menten constant
(Km) and Vmax of cellulosome were found to be 14.832 g/L and 3.522
U/mL. The activation energy of the cellulosome to hydrolyze
microalgae LDRs was calculated as 32.804 kJ/mol.
Abstract: SARA is a common and serious metabolic disorder in
early lactation in dairy cattle and in finishing beef cattle, caused by
diets with high inclusion of cereal grain. This experiment was
performed to determine the efficacy of Megasphaera elsdenii, a
major lactate-utilizing bacterium in prevention/treatment of SARA in
vivo. In vivo experimentation, it was used eight ruminally cannulated
rams and it was applied the rapid adaptation with the mixture of grain
based on wheat (80% wheat, 20% barley) and barley (80% barley,
20% wheat). During the systematic adaptation, it was followed the
probability of SARA formation by being measured the rumen pH
with two hours intervals after and before feeding. After being
evaluated the data, it was determined the ruminal pH ranged from
5.2-5.6 on the condition of feeding with 60 percentage of grain
mixture based on barley and wheat, that assured the definite form of
subacute acidosis. In four days SARA period, M. elsdenii (1010 cfu
ml-1) was inoculated during the first two days. During the SARA
period, it was observed the decrease of feed intake with M. elsdenii
inoculation. Inoculation of M. elsdenii was caused to differentiation
of rumen pH (P
Abstract: The rapid growth of multimedia technology demands
the secure and efficient access to information. This fast growing lose
the confidence of unauthorized duplication. Henceforth the protection
of multimedia content is becoming more important. Watermarking
solves the issue of unlawful copy of advanced data. In this paper,
blind video watermarking technique has been proposed. A luminance
layer of selected frames is interlaced into two even and odd rows of
an image, further it is deinterlaced and equalizes the coefficients of
the two shares. Color watermark is split into different blocks, and the
pieces of block are concealed in one of the share under the wavelet
transform. Stack the two images into a single image by introducing
interlaced even and odd rows in the two shares. Finally, chrominance
bands are concatenated with the watermarked luminance band. The
safeguard level of the secret information is high, and it is
undetectable. Results show that the quality of the video is not
changed also yields the better PSNR values.
Abstract: The paper provides a comprehensive analysis of the
sustainable development in the Belgrade Metropolitan Region - BMA
(level NUTS 2) preliminary evaluating the three chosen components:
1) economic growth and developmental changes; 2) competitiveness;
and 3) territorial concentration and industrial specialization. First, we
identified the main results of development changes and economic
growth by applying Shift-share analysis on the metropolitan level.
Second, the empirical evaluation of competitiveness in the BMA is
based on the analysis of absolute and relative values of eight
indicators by Spider method. Paper shows that the consideration of
the national share, industrial mix and metropolitan/regional share in
total Shift share of the BMA, as well as economic/functional
specialization of the BMA indicate very strong process of
deindustrialization. Allocative component of the BMA economic
growth has positive value, reflecting the above-average sector
productivity compared to the national average. Third, the important
positive role of metropolitan/regional component in decomposition of
the BMA economic growth is highlighted as one of the key results.
Finally, comparative analysis of the industrial territorial
concentration in the BMA in relation to Serbia is based on location
quotient (LQ) or Balassa index as a valid measure. The results
indicate absolute and relative differences in decrease of industry
territorial concentration as well as inefficiency of utilizing territorial
capital in the BMA. Results are important for the increase of regional
competitiveness and territorial distribution in this area as well as for
improvement of sustainable metropolitan and sector policies,
planning and governance on this level.
Abstract: Si ion implantation was widely used to synthesize
specimens of SiO2 containing supersaturated Si and subsequent high
temperature annealing induces the formation of embedded
luminescent Si nanocrystals. In this work, the potentialities of excimer
UV-light (172 nm, 7.2 eV) irradiation and rapid thermal annealing
(RTA) to enhance the photoluminescence and to achieve low
temperature formation of Si nanocrystals have been investigated. The
Si ions were introduced at acceleration energy of 180 keV to fluence of
7.5 x 1016 ions/cm2. The implanted samples were subsequently
irradiated with an excimer-UV lamp. After the process, the samples
were rapidly thermal annealed before furnace annealing (FA).
Photoluminescence spectra were measured at various stages at the
process. We found that the luminescence intensity is strongly
enhanced with excimer-UV irradiation and RTA. Moreover, effective
visible photoluminescence is found to be observed even after FA at
900 oC, only for specimens treated with excimer-UV lamp and RTA.
We also prepared specimens of Si nanocrystals embedded in a SiO2 by
reactive pulsed laser deposition (PLD) in an oxygen atmosphere. We
will make clear the similarities and differences with the way of
preparation.
Abstract: Psyllium gum alone and in combination with
sunflower oil was investigated as a possible alternative edible coating
for improvement of quality and shelf life of fresh-cut papaya.
Different concentrations including 0.5, 1 and 1.5 percent of psyllium
gum were used for coating of fresh-cut papaya. In some samples,
refined sunflower oil was used as a lipid component to increase the
effectiveness of coating in terms of water barrier properties. Soya
lecithin was used as an emulsifier in coatings containing oil.
Pretreatment with 1% calcium chloride was given to maintain the
firmness of fresh-cut papaya cubes. 1% psyllium gum coating was
found to yield better results. Further, addition of oil helped to
maintain the quality and acted as a barrier to water vapour, therefore,
minimizing the weight loss.
Abstract: This work studies the effect of chemical composition
on the activity and selectivity of γ–alumina supported CuO/
MnO2/Cr2O3 catalysts toward deep oxidation of CO, dimethyl ether
(DME) and methanol. The catalysts were prepared by impregnation
of the support with an aqueous solution of copper nitrate, manganese
nitrate and CrO3 under different conditions. Thermal, XRD and TPR
analysis were performed. The catalytic measurements of single
compounds oxidation were carried out on continuous flow equipment
with a four-channel isothermal stainless steel reactor. Flow-line
equipment with an adiabatic reactor for simultaneous oxidation of all
compounds under the conditions that mimic closely the industrial
ones was used. The reactant and product gases were analyzed by
means of on-line gas chromatographs.
On the basis of XRD analysis it can be concluded that the active
component of the mixed Cu-Mn-Cr/γ–alumina catalysts consists of at
least six compounds – CuO, Cr2O3, MnO2, Cu1.5Mn1.5O4,
Cu1.5Cr1.5O4 and CuCr2O4, depending on the Cu/Mn/Cr molar ratio.
Chemical composition strongly influences catalytic properties, this
influence being quite variable with regards to the different processes.
The rate of CO oxidation rapidly decrease with increasing of
chromium content in the active component while for the DME was
observed the reverse trend. It was concluded that the best
compromise are the catalysts with Cu/(Mn + Cr) molar ratio 1:5 and
Mn/Cr molar ratio from 1:3 to 1:4.
Abstract: Amoxicillin is an antibiotic which is widely used to
treat various infections in both human beings and animals. However,
when amoxicillin is released into the environment, it is a major
problem. Amoxicillin causes bacterial resistance to these drugs and
failure of treatment with antibiotics. Liquid membrane is of great
interest as a promising method for the separation and recovery of the
target ions from aqueous solutions due to the use of carriers for the
transport mechanism, resulting in highly selectivity and rapid
transportation of the desired metal ions. The simultaneous processes
of extraction and stripping in a single unit operation of liquid
membrane system are very interesting. Therefore, it is practical to
apply liquid membrane, particularly the HFSLM for industrial
applications as HFSLM is proved to be a separation process with
lower capital and operating costs, low energy and extractant with
long life time, high selectivity and high fluxes compared with solid
membranes. It is a simple design amenable to scaling up for industrial
applications. The extraction and recovery for (Amoxicillin) through
the hollow fiber supported liquid membrane (HFSLM) using
aliquat336 as a carrier were explored with the experimental data. The
important variables affecting on transport of amoxicillin viz.
extractant concentration and operating time were investigated. The
highest AMOX- extraction percentages of 85.35 and Amoxicillin
stripping of 80.04 were achieved with the best condition at 6 mmol/L
[aliquat336] and operating time 100 min. The extraction reaction
order (n) and the extraction reaction rate constant (kf) were found to
be 1.00 and 0.0344 min-1, respectively.
Abstract: The effect of processing on plasma lipid profile and
atherogenic indices of rats fed Artocarpus heterophyllus seed diets at
different concentrations were investigated. Fifty five rats were used
for this study, they were divided into eleven groups of five rats each
(one control group and ten test groups), the test groups were fed raw,
boiled, roasted, fermented and soaked diets at 10% and 40%
concentrations. The study lasted for thirty five days. The diets led to
significant decrease (p
Abstract: Background: Delayed onset muscle soreness (DOMS)
is the most common symptom when ordinary individuals and athletes
are exposed to unaccustomed physical activity, especially eccentric
contraction which impairs athletic performance, ordinary people
work ability and physical functioning. Multitudes of methods have
been investigated to reduce DOMS. One of the valuable methods to
control DOMS is repeated bout effect (RBE) as a prophylactic
method. Purpose: To compare the repeated bout effect of
submaximal eccentric with maximal isometric contraction on induced
DOMS. Methods: Sixty normal male volunteers were assigned
randomly into three equal groups: Group A (first study group): 20
subjects received submaximal eccentric contraction on non-dominant
elbow flexors as a prophylactic exercise. Group B (second study
group): 20 subjects received maximal isometric contraction on nondominant
elbow flexors as a prophylactic exercise. Group C (control
group): 20 subjects did not receive any prophylactic exercises.
Maximal isometric peak torque of elbow flexors and patient related
elbow evaluation (PREE) scale were measured for each subject 3
times before, immediately after, and 48 hours after induction of
DOMS. Results: Post-hoc test for maximal isometric peak torque and
PREE scale immediately and 48 hours after induction of DOMS
revealed that group (A) and group (B) resulted in significant decrease
in maximal isometric strength loss and elbow pain and disability
rather than control group (C), but submaximal eccentric group (A)
was more effective than maximal isometric group (B) as it showed
more rapid recovery of functional strength and less degrees of elbow
pain and disability. Conclusion: Both submaximal eccentric
contraction and maximal isometric contraction were effective in
prevention of DOMS but submaximal eccentric contraction produced
a greater protective effect against muscle damage induced by
maximal eccentric exercise performed 2 days later.
Abstract: Implementation of advanced technologies requires
sophisticated instruments that deal with the operation, control,
restoration and protection of rapidly growing power system network
under normal and abnormal conditions. Presently, the applications of
Phasor Measurement Unit (PMU) are widely found in real time
operation, monitoring, controlling and analysis of power system
network as it eliminates the various limitations of supervisory control
and data acquisition system (SCADA) conventionally used in power
system. The use of PMU data is very rapidly increasing its
importance for online and offline analysis. Wide area measurement
system (WAMS) is developed as new technology by use of multiple
PMUs in power system. The present paper proposes a model of
Matlab based PMU using Discrete Fourier Transform (DFT)
algorithm and evaluation of its operation under different
contingencies. In this paper, PMU based two bus system having
WAMS network is presented as a case study.
Abstract: In the field of fashion design, 3D Mannequin is a kind
of assisting tool which could rapidly realize the design concepts.
While the concept of 3D Mannequin is applied to the computer added
fashion design, it will connect with the development and the
application of design platform and system. Thus, the situation
mentioned above revealed a truth that it is very critical to develop a
module of 3D Mannequin which would correspond with the necessity
of fashion design. This research proposes a concrete plan that
developing and constructing a system of 3D Mannequin with Kinect.
In the content, ergonomic measurements of objective human features
could be attained real-time through the implement with depth camera
of Kinect, and then the mesh morphing can be implemented through
transformed the locations of the control-points on the model by
inputting those ergonomic data to get an exclusive 3D mannequin
model. In the proposed methodology, after the scanned points from the
Kinect are revised for accuracy and smoothening, a complete human
feature would be reconstructed by the ICP algorithm with the method
of image processing. Also, the objective human feature could be
recognized to analyze and get real measurements. Furthermore, the
data of ergonomic measurements could be applied to shape morphing
for the division of 3D Mannequin reconstructed by feature curves. Due
to a standardized and customer-oriented 3D Mannequin would be
generated by the implement of subdivision, the research could be
applied to the fashion design or the presentation and display of 3D
virtual clothes. In order to examine the practicality of research
structure, a system of 3D Mannequin would be constructed with JAVA
program in this study. Through the revision of experiments the
practicability-contained research result would come out.
Abstract: Rapid Prototyping (RP) technologies enable physical
parts to be produced from various materials without depending on the
conventional tooling. Fused Deposition Modeling (FDM) is one of
the famous RP processes used at present. Tensile strength and
compressive strength resistance will be identified for different sample
structures and different layer orientations of ABS rapid prototype
solid models. The samples will be fabricated by a FDM rapid
prototyping machine in different layer orientations with variations in
internal geometrical structure. The 0° orientation where layers were
deposited along the length of the samples displayed superior strength
and impact resistance over all the other orientations. The anisotropic
properties were probably caused by weak interlayer bonding and
interlayer porosity.
Abstract: Biodiesel, as an alternative renewable fuel, has been
receiving increasing attention due to the limited supply of fossil fuels
and the increasing need for energy. Microalgae are promising source
for lipids, which can be converted to biodiesel. The biodiesel
production from microalgae lipids using lipase catalyzed reaction in
supercritical CO2 medium has several advantages over conventional
production processes. However, identifying the optimum microalgae
lipid extraction and transesterification conditions is still a challenge.
In this study, the quality of biodiesel produced from lipids extracted
from Scenedesmus sp. and their enzymatic transesterification using
supercritical carbon dioxide have been investigated. At the optimum
conditions, the highest biodiesel production yield was found to be
82%. The fuel properties of the produced biodiesel, without any
separation step, at optimum reaction condition, were determined and
compared to ASTM standards. The properties were found to comply
with the limits, and showed a low glycerol content, without any
separation step.
Abstract: Boiling process is characterized by the rapid
formation of vapour bubbles at the solid–liquid interface (nucleate
boiling) with pre-existing vapour or gas pockets. Computational fluid
dynamics (CFD) is an important tool to study bubble dynamics. In
the present study, CFD simulation has been carried out to determine
the bubble detachment diameter and its terminal velocity. Volume of
fluid method is used to model the bubble and the surrounding by
solving single set of momentum equations and tracking the volume
fraction of each of the fluids throughout the domain. In the
simulation, bubble is generated by allowing water-vapour to enter a
cylinder filled with liquid water through an inlet at the bottom. After
the bubble is fully formed, the bubble detaches from the surface and
rises up during which the bubble accelerates due to the net balance
between buoyancy force and viscous drag. Finally when these forces
exactly balance each other, it attains a constant terminal velocity. The
bubble detachment diameter and the terminal velocity of the bubble
are captured by the monitor function provided in FLUENT. The
detachment diameter and the terminal velocity obtained are compared
with the established results based on the shape of the bubble. A good
agreement is obtained between the results obtained from simulation
and the equations in comparison with the established results.
Abstract: The aim of this investigation is to elaborate nearinfrared
methods for testing and recognition of chemical components
and quality in “Pannon wheat” allied (i.e. true to variety or variety
identified) milling fractions as well as to develop spectroscopic
methods following the milling processes and evaluate the stability of
the milling technology by different types of milling products and
according to sampling times, respectively. These wheat categories
produced under industrial conditions where samples were collected
versus sampling time and maximum or minimum yields. The changes
of the main chemical components (such as starch, protein, lipid) and
physical properties of fractions (particle size) were analysed by
dispersive spectrophotometers using visible (VIS) and near-infrared
(NIR) regions of the electromagnetic radiation. Close correlation
were obtained between the data of spectroscopic measurement
techniques processed by various chemometric methods (e.g. principal
component analysis [PCA], cluster analysis [CA]) and operation
condition of milling technology. It is obvious that NIR methods are
able to detect the deviation of the yield parameters and differences of
the sampling times by a wide variety of fractions, respectively. NIR
technology can be used in the sensitive monitoring of milling
technology.
Abstract: Rapidly changing factors that affect daily life also affect operational environment and the way military leaders fulfill their missions. With the help of technological developments, traditional linearity of conflict and war has started to fade away. Furthermore, mission domain has broadened to include traditional threats, hybrid threats and new challenges of cyber and space. Considering the future operational environment, future military leaders need to adapt themselves to the new challenges of the future battlefield. But how to decide what kind of features of leadership are required to operate and accomplish mission in the new complex battlefield? In this article, the main aim is to provide answers to this question. To be able to find right answers, first leadership and leadership components are defined, and then characteristics of future operational environment are analyzed. Finally, leadership features that are required to be successful in redefined battlefield are explained.
Abstract: Complex lifting entry was selected for precise landing
performance during the Mars Science Laboratory entry. This study
aims to develop the three-dimensional numerical method for precise
computation and the surface panel method for rapid engineering
prediction. Detailed flow field analysis for Mars exploration mission
was performed by carrying on a series of fully three-dimensional
Navier-Stokes computations. The static aerodynamic performance was
then discussed, including the surface pressure, lift and drag coefficient,
lift-to-drag ratio with the numerical and engineering method.
Computation results shown that the shock layer is thin because of
lower effective specific heat ratio, and that calculated results from both
methods agree well with each other, and is consistent with the
reference data. Aerodynamic performance analysis shows that CG
location determines trim characteristics and pitch stability, and certain
radially and axially shift of the CG location can alter the capsule lifting
entry performance, which is of vital significance for the aerodynamic
configuration design and inner instrument layout of the Mars entry
capsule.
Abstract: Whey is the lactose rich by-product of the dairy
industry, having good amount of nutrient reservoir. Most abundant
nutrients are lactose, soluble proteins, lipids and mineral salts.
Disposing of whey by most of milk plants which do not have proper
pre-treatment system is the major issue. As a result of which, there
can be significant loss of potential food and energy source. Thus,
whey has been explored as the substrate for the synthesis of different
value added products such as enzymes. β-galactosidase is one of the
important enzymes and has become the major focus of research due
to its ability to catalyze both hydrolytic as well as
transgalactosylation reaction simultaneously. The enzyme is widely
used in dairy industry as it catalyzes the transformation of lactose to
glucose and galactose, making it suitable for the lactose intolerant
people. The enzyme is intracellular in both bacteria and yeast,
whereas for molds, it has an extracellular location. The present work
was carried to utilize the whey for the production of β-galactosidase
enzyme using both yeast and fungal cultures. The yeast isolate
Kluyveromyces marxianus WIG2 and various fungal strains have
been used in the present study. Different disruption techniques have
also been investigated for the extraction of the enzyme produced
intracellularly from yeast cells. Among the different methods tested
for the disruption of yeast cells, SDS-chloroform showed the
maximum β-galactosidase activity. In case of the tested fungal
cultures, Aureobasidium pullulans NCIM 1050 was observed to be
the maximum extracellular enzyme producer.