Abstract: In this paper we propose a discrete tracking control of
nonholonomic mobile robots with two degrees of freedom. The
electromechanical model of a mobile robot moving on a horizontal
surface without slipping, with two rear wheels controlled by two
independent DC electric, and one front roal wheel is considered. We
present backstepping design based on the Euler approximate discretetime
model of a continuous-time plant. Theoretical considerations are
verified by numerical simulation.
Abstract: Machining of hard materials is a recent technology for
direct production of work-pieces. The primary challenge in
machining these materials is selection of cutting tool inserts which
facilitates an extended tool life and high-precision machining of the
component. These materials are widely for making precision parts for
the aerospace industry. Nickel-based alloys are typically used in
extreme environment applications where a combination of strength,
corrosion resistance and oxidation resistance material characteristics
are required. The present paper reports the theoretical and
experimental investigations carried out to understand the influence of
machining parameters on the response parameters. Considering the
basic machining parameters (speed, feed and depth of cut) a study has
been conducted to observe their influence on material removal rate,
surface roughness, cutting forces and corresponding tool wear.
Experiments are designed and conducted with the help of Central
Composite Rotatable Design technique. The results reveals that for a
given range of process parameters, material removal rate is favorable
for higher depths of cut and low feed rate for cutting forces. Low feed
rates and high values of rotational speeds are suitable for better finish
and higher tool life.
Abstract: This work is undertaken to develop a methodology to enhance the management of dredged marine and river sediments in the North of France. The main objective of this study is to determine the main characteristics of these sediments. In this order, physical, mineralogical and chemical properties of both types of sediments are measured. Moreover, their potential impacts on the environment are assessed throughout leaching tests. From the obtained results, the potential of their use in road engineering is discussed.
Abstract: The paper tackles the topic of determining the cost of
innovation in software development projects. Innovation can be
achieved either in a planned or unplanned manner. The paper
approaches the scenarios were innovation is planned for. As a starting
point an innovative software development project is analyzed. The
project is depicted step by step as it was implemented, from inception
to delivery. Costs that are proprietary to innovation in software
development are isolated based on the author’s personal experience
in managing the above mentioned project. Innovation costs
components identified by the author are then validated using open
discussions with software development professionals and projects
managers on LinkedIn groups. In order to receive relevant feedback
only groups that focus on software development and innovation
management are targeted. Additional innovation cost components
suggested by software development professionals and projects
managers are also considered. Based on the identified cost
components an indicator is built. The indicator is meant to formalize
the process of determining the cost of innovation in a software
development project. The indicator aggregates all the innovation cost
components that are identified in the research process. The process of
calculating each cost component is also described. Conclusions are
formulated and new related research topics are submitted for debate.
Abstract: Chemical vapor deposition (CVD) diamond coated
cutting tool has excellent cutting performance, it is the most ideal tool
for the processing of nonferrous metals and alloys, composites,
nonmetallic materials and other difficult-to-machine materials
efficiently and accurately. Depositing CVD diamond coating on the
cemented carbide with high cobalt content can improve its toughness
and strength, therefore, it is very important to research on the
preparation technology and cutting properties of CVD diamond coated
cemented carbide cutting tool with high cobalt content. The
preparation technology of boron-doped diamond (BDD) coating has
been studied and the coated drills were prepared. BDD coating were
deposited on the drills by using the optimized parameters and the SEM
results show that there are no cracks or collapses in the coating.
Cutting tests with the prepared drills against the silumin and aluminum
base printed circuit board (PCB) have been studied. The results show
that the wear amount of the coated drill is small and the machined
surface has a better precision. The coating does not come off during
the test, which shows good adhesion and cutting performance of the
drill.
Abstract: Hybrid bioreactor having both suspended-growth and
attached-growth bacteria is found a novel and excellent bioreactor
system for treating the municipal wastewater containing inhibitory
substrates too. In this reactor a fraction of substrate is used by
suspended biomass and the remaining by attached biomass resulting
in the competition between the two growths for the substrate. The
combination of suspended and attached growth provides the system
with enhanced biomass concentration and sludge age more than those
in ASP. Similar to attached growth system, the hybrid bioreactor
ensures considerable efficiency for treating toxic and refractory
substances in wastewater. For the process design of hybrid bioreactor
a suitable mathematical model is required. Although various
mathematical models were developed on hybrid bioreactor in due
course of time in earlier research works, none of them was found
having a specific simplified solution of the corresponding models and
without having any drawback. To overcome this drawback authors
already developed a simplified mathematical model for process
design of a hybrid bioreactor. The present paper briefly highlights on
the various aspects of process design of an aerobic hybrid bioreactor
for the treatment of municipal wastewater.
Abstract: In this paper, the problem of fault detection and
isolation in the attitude control subsystem of spacecraft formation
flying is considered. In order to design the fault detection method, an
extended Kalman filter is utilized which is a nonlinear stochastic state
estimation method. Three fault detection architectures, namely,
centralized, decentralized, and semi-decentralized are designed based
on the extended Kalman filters. Moreover, the residual generation
and threshold selection techniques are proposed for these
architectures.
Abstract: The influences of cell-free solutions (CFSs) of lactic
acid bacteria (LAB) on cadaverine and other biogenic amines
production by Listeria monocytogenes and Staphylococcus aureus
were investigated in lysine decarboxylase broth (LDB) using HPLC.
Cell free solutions were prepared from Lactococcus lactis subsp.
lactis, Leuconostoc mesenteroides subsp. cremoris, Pediococcus
acidilactici and Streptococcus thermophiles. Two different
concentrations that were 50% and 25% CFS and the control without
CFSs were prepared. Significant variations on biogenic amine
production were observed in the presence of L. monocytogenes and S.
aureus (P < 0.05). The function of CFS on biogenic amine production
by foodborne pathogens varied depending on strains and specific
amine. Cadaverine formation by L. monocytogenes and S. aureus in
control were 500.9 and 948.1 mg/L, respectively while the CFSs of
LAB induced 4-fold lower cadaverine production by L.
monocytogenes and 7-fold lower cadaverine production by S. aureus.
The CFSs resulted in strong decreases in cadaverine and putrescine
production by L. monocytogenes and S. aureus, although remarkable
increases were observed for histamine, spermidine, spermine,
serotonin, dopamine, tyramine and agmatine in the presence of LAB
in lysine decarboxylase broth.
Abstract: Livestock is one of the fastest-growing sectors in
agriculture. If carefully managed, have potential opportunities for
economic growth, food sovereignty and food security. In this study
we mainly analyse and compare long-term i.e. for year 2030 climate
variability impact on predicted productivity of meat i.e. beef, mutton
and poultry for the Kingdom of Saudi Arabia w.r.t three factors i.e. i)
climatic-change vulnerability ii) CO2 fertilization and iii) water
scarcity and compare the results with two countries of the region i.e.
Iraq and Yemen. We do the analysis using data from diverse sources,
which was extracted, transformed and integrated before usage. The
collective impact of the three factors had an overall negative effect on
the production of meat for all the three countries, with adverse impact
on Iraq. High similarity was found between CO2 fertilization
(effecting animal fodder) and water scarcity i.e. higher than that
between production of beef and mutton for the three countries
considered. Overall, the three factors do not seem to be favorable for
the three Middle-East countries considered. This points to possibility
of a vegetarian year 2030 based on dependency on indigenous livestock
population.
Abstract: This work introduces a simple device designed to
perform in-situ direct shear and sinkage tests on granular materials
as sand, clays, or regolith. It consists of a box nested within a larger
box. Both have open bottoms, allowing them to be lowered into the
material. Afterwards, two rotating plates on opposite sides of the
outer box will rotate outwards in order to clear regolith on either
side, providing room for the inner box to move relative to the plates
and perform a shear test without the resistance of the surrounding
soil. From this test, Coulomb parameters, including cohesion and
internal friction angle, as well as, Bekker parameters can be inferred.
This device has been designed for a laboratory setting, but with few
modifications, could be put on the underside of a rover for use in
a remote location. The goal behind this work is to ultimately create
a compact, but accurate measuring tool to put onto a rover or any
kind of exploratory vehicle to test for regolith properties of celestial
bodies.
Abstract: Wind energy offers a significant advantage such as no
fuel costs and no emissions from generation. However, wind energy
sources are variable and non-dispatchable. The utility grid is able to
accommodate the variability of wind in smaller proportion along with
the daily load. However, at high penetration levels, the variability can
severely impact the utility reserve requirements and the cost
associated with it. In this paper the impact of wind energy is
evaluated in detail in formulating the total utility cost. The objective
is to minimize the overall cost of generation while ensuring the
proper management of the load. Overall cost includes the curtailment
cost, reserve cost and the reliability cost, as well as any other penalty
imposed by the regulatory authority. Different levels of wind
penetrations are explored and the cost impacts are evaluated. As the
penetration level increases significantly, the reliability becomes a
critical question to be answered. Here we increase the penetration
from the wind yet keep the reliability factor within the acceptable
limit provided by NERC. This paper uses an economic dispatch (ED)
model to incorporate wind generation into the power grid. Power
system costs are analyzed at various wind penetration levels using
Linear Programming. The goal of this study is show how the
increases in wind generation will affect power system economics.
Abstract: A Disaster Management System (DMS) is very important for countries with multiple disasters, such as Chile. In the world (also in Chile)different disasters (earthquakes, tsunamis, volcanic eruption, fire or other natural or man-made disasters) happen and have an effect on the population. It is also possible that two or more disasters occur at the same time. This meansthata multi-risk situation must be mastered. To handle such a situation a Decision Support System (DSS) based on multiagents is a suitable architecture. The most known DMSs are concernedwith only a singledisaster (sometimes thecombination of earthquake and tsunami) and often with a particular disaster. Nevertheless, a DSS helps for a better real-time response. Analyze the existing systems in the literature and expand them for multi-risk disasters to construct a well-organized system is the proposal of our work. The here shown work is an approach of a multi-risk system, which needs an architecture and well defined aims. In this moment our study is a kind of case study to analyze the way we have to follow to create our proposed system in the future.
Abstract: Concrete is found to undergo degradation when
subjected to elevated temperatures and loose substantial amount of its
strength. The loss of strength in concrete is mainly attributed to
decomposition of C-S-H and release of physically and chemically
bound water, which begins when the exposure temperature exceeds
100°C. When such a concrete comes in contact with moisture, the
cement paste is found rehydrate and considerable amount of strength
lost is found to recover. This paper presents results of an
experimental program carried out to investigate the effect of recuring
on strength gain of OPC concrete specimens subjected to elevated
temperatures from 200°C to 800°C, which were subjected to
retention time of two hours and four hours at the designated
temperature. Strength recoveries for concrete subjected to 7
designated elevated temperatures are compared. It is found that the
efficacy of recuring as a measure of strength recovery reduces with
increase in exposure temperature.
Abstract: Since “Hello Kitty” was manufactured in the market in
1974, the manufacturer, Sanrio Co., Ltd. gains high profits not only
Kitty’s products but also Kitty license, which gives us a picture of
Sanrio’s sales strategy in the global market. Kitty’s history, its
products, and Sanrio’s sales strategy are researched in this paper.
Comparing it to American Girl, and focusing on KITTYLAB, a type of
attraction where you can enjoy games with Kitty, and choose its parts
to build your own Kitty, the image of the cultural icon can be altered.
Abstract: In this study, an experiment was executed related to
the strength of wooden materials which have been commonly used
both in the past and present against pressure and whether fire
retardant materials used against fire have any effects or not. Totally
81 samples which included 3 different wood species, 3 different
sizes, 2 different fire retardants and 2 unprocessed samples were
prepared. Compressive pressure tests were applied to the prepared
samples, their variance analyses were executed in accordance with
the obtained results and it was aimed to determine the most
convenient wooden materials and fire-retardant coating material. It
was also determined that the species of wood and the species of
coating caused the decrease and/or increase in the resistance against
pressure.
Abstract: Non-linear FEM calculations are indispensable when
important technical information like operating performance of a
rubber component is desired. For example rubber bumpers built into
air-spring structures may undergo large deformations under load,
which in itself shows non-linear behavior. The changing contact
range between the parts and the incompressibility of the rubber
increases this non-linear behavior further. The material
characterization of an elastomeric component is also a demanding
engineering task.
The shape optimization problem of rubber parts led to the study of
FEM based calculation processes. This type of problems was posed
and investigated by several authors. In this paper the time demand of
certain calculation methods are studied and the possibilities of time
reduction is presented.
Abstract: This paper examines how “Zakat” provides fair
income redistribution and aids the struggle against poverty. Providing
fair income redistribution and combating poverty constitutes some of
the fundamental tasks performed by countries all over the world.
Each country seeks a solution for these problems according to their
political, economic and administrative styles through applying
various economic and financial policies. The same situation can be
handled via “zakat” association in Islam. Nowadays, we observe
different versions of “zakat” in developed countries. Applications
such as negative income tax denote merely a different form of
“zakat” that is being applied almost in the same way but under
changed names. However, the minimum values to donate under zakat
(e.g. 85 gr. gold and 40 animals) get altered and various amounts are
put into practice. It might be named as negative income tax instead of
zakat, nonetheless, these applications are based on the Holy Koran
and the hadith released 1400 years ago. Besides, considering the
savage and slavery in the world at those times, we might easily
recognize the true value of the zakat being applied for the first time
then in the Islamic system. Through zakat, governments are able to
transfer incomes to the poor as a means of enabling them achieve the
minimum standard of living required. With regards to who benefits
from the Zakat, an objective and fair criteria was used to determine
who benefits from the zakat contrary to the notion that it was based
on peoples’ own choices. Since the zakat is obligatory, the transfers
do not get forwarded directly but via the government and get
distributed, which requires vast governmental organizations. Through
the application of Zakat, reduced levels of poverty can be achieved
and also ensure the fair income redistribution.
Abstract: Estimation of model parameters is necessary to predict
the behavior of a system. Model parameters are estimated using
optimization criteria. Most algorithms use historical data to estimate
model parameters. The known target values (actual) and the output
produced by the model are compared. The differences between the
two form the basis to estimate the parameters. In order to compare
different models developed using the same data different criteria are
used. The data obtained for short scale projects are used here. We
consider software effort estimation problem using radial basis
function network. The accuracy comparison is made using various
existing criteria for one and two predictors. Then, we propose a new
criterion based on linear least squares for evaluation and compared
the results of one and two predictors. We have considered another
data set and evaluated prediction accuracy using the new criterion.
The new criterion is easy to comprehend compared to single statistic.
Although software effort estimation is considered, this method is
applicable for any modeling and prediction.
Abstract: The concept of urban transformation came about
through interventions aimed at bringing socially and economically
problematic areas of cities into use. The issue of urban transformation
arose frequently during the post-2000 period in particular, and legal
regulations on this matter were also developed in Turkey. Urban
transformation project would be a focal point for the formation of the
city in the near future. Izmir, which is third largest city of Turkey, is
an important trade and port city. But, assessment of the current
situation shows that, the majority of existing residential areas was
formed with squatters and unplanned settlements in Izmir city center.
Therefore an important part of these areas have significant problems
in terms of the quality of life, safety and environmental quality. In
this study, the central policies in Turkey and local policies in Đzmir
about urban transformation will be considered. In addition, urban
renewal projects that are being implemented in Izmir were discussed
and suggestions will be developed in accordance with this policy.
Abstract: The temperature dependence of wettability (wetting
angle, Θ (T)) for Ag-based melts on graphite and Al2O3 substrates is
compared. Typical alloying effects are found, as the Ag host metal is
gradually replaced by various metallic elements. The essence of
alloying lies in the change of the electron/atom (e/a) ratio. This ratio
is also manifested in the shift of wetting angles on the same substrate.
Nevertheless, the effects are partially smeared by other
(metallurgical) factors, like the interaction between the oxygenalloying
elements and by the graphite substrate-oxygen interaction. In
contrast, such effects are not pronounced in the case of Al2O3
substrates. As a consequence, Θ(T) exhibits an opposite trend in the
case of two substrates. Crossovers of the Θ(T) curves were often
found. The positions of crossovers depend on the chemical character
and concentration of solute atoms. Segregation and epitaxial texture
formation after solidification were also observed in certain alloy
drops, especially in high concentration range. This phenomenon is
not yet explained in every detail.