Abstract: The paper presents a method for a simple and
immediate motion planning of a SCARA robot, whose end-effector
has to move along a given trajectory; the calculation procedure
requires the user to define in analytical form or by points the
trajectory to be followed and to assign the curvilinear abscissa as
function of the time. On the basis of the geometrical characteristics
of the robot, a specifically developed program determines the motion
laws of the actuators that enable the robot to generate the required
movement; this software can be used in all industrial applications for
which a SCARA robot has to be frequently reprogrammed, in order
to generate various types of trajectories with different motion times.
Abstract: Transmission shafts are affected by various forces, for
example, during acceleration or sudden breaks, bending during
transportation, vertical forces that lead to cuts. One of the main
failures in combines is breaking shaft which repairmen refer it.
Structural resistance of canal against torque is very important in the
beginning of the movement. For analyzing stress, a typical sample
from a type of combine was selected, called JD955 combine. Long
shaft in this combine was analyzed with finite element method by
Ansys13 generic package under static load. Conducted analysis
showed that there is a maximum stress in contact surfaces of
indentations and also in place of changing diameter. Safety factor
value is low in parts of the shaft and this increases the probability of
failure at these points. To improve the conditions with the least cost
and an approach of product improvement, using alternative alloy is
important.
Abstract: The aims of this study were to determine the factor
structure and psychometric properties (i.e., reliability and convergent
validity) of the Malaysian Multi-Ethnic Discrimination Scale
(MMEDS). It consists of 71-items measure experience, strategies
used and consequences of ethnic discrimination. A sample of 649
university students from one of the higher education institution in
Malaysia was asked to complete MMEDS, as well as Perceived
Ethnic and Racial Discrimination. The exploratory factor analysis on
ethnic discrimination experience extracted two factors labeled ‘unfair
treatment’ (15 items) and ‘Denial of the ethnic right’ (12 items)
which accounted for 60.92% of the total variance. The two sub scales
demonstrated clear reliability with internal consistency above .70.
The convergent validity of the Scale was supported by an expected
pattern of correlations (positive and significant correlation) between
the score of unfair treatment and denial of the ethnic right and the
score of Perceived Ethnic and Racial Discrimination by Peers Scale.
The results suggest that the MMEDS is a reliable and valid measure.
However, further studies need to be carried out in other groups of
sample as to validate the Scale.
Abstract: Coal is an important non-renewable energy source of
and can be associated with radioactive elements. In Figueira city,
Paraná state, Brazil, it was recorded high uranium activity near the
coal mine that supplies a local thermoelectric power plant. In this
context, the radon activity (Rn-222, produced by the Ra-226 decay in
the U-238 natural series) was evaluated in groundwater, river water
and effluents produced from the acid mine drainage in the coal reject
dumps. The samples were collected in August 2013 and in February
2014 and analyzed at LABIDRO (Laboratory of Isotope and
Hydrochemistry), UNESP, Rio Claro city, Brazil, using an alpha
spectrometer (AlphaGuard) adjusted to evaluate the mean radon
activity concentration in five cycles of 10 minutes. No radon activity
concentration above 100 Bq.L-1, which was a previous critic value
established by the World Health Organization. The average radon
activity concentration in groundwater was higher than in surface
water and in effluent samples, possibly due to the accumulation of
uranium and radium in the aquifer layers that favors the radon
trapping. The lower value in the river waters can indicate dilution and
the intermediate value in the effluents may indicate radon absorption
in the coal particles of the reject dumps. The results also indicate that
the radon activities in the effluents increase with the sample
acidification, possibly due to the higher radium leaching and the
subsequent radon transport to the drainage flow. The water samples
of Laranjinha River and Ribeirão das Pedras stream, which,
respectively, supply Figueira city and receive the mining effluent,
exhibited higher pH values upstream the mine, reflecting the acid
mine drainage discharge. The radionuclides transport indicates the
importance of monitoring their activity concentration in natural
waters due to the risks that the radioactivity can represent to human
health.
Abstract: Fly ash (FA) thanks to the significant presence of SiO2
and Al2O3 as the main components is a potential raw material for
geopolymers production. Mechanical activation is a method for
improving FA reactivity and also the porosity of final mixture; those
parameters can be analysed through sorption properties. They have
direct impact on the durability of fly ash based geopolymer mortars.
In the paper, effect of FA fineness on sorption properties of
geopolymers based on sodium silicate, as well as relationship
between fly ash fineness and apparent density, compressive and
flexural strength of geopolymers are presented. The best results in the
evaluated area reached the sample H1, which contents the highest
portion of particle under 20μm (100% of GFA). The interdependence
of individual tested properties was confirmed for geopolymer
mixtures corresponding to those in the cement based mixtures: higher
is portion of fine particles < 20μm, higher is strength, density and
lower are sorption properties. The compressive strength as well as
sorption parameters of the geopolymer can be reasonably controlled
by grinding process and also ensured by the higher share of fine
particle (to 20μm) in total mass of the material.
Abstract: The emerging markets of post-USSR countries have
attracted Western multinational companies; however, weak
institutions and unstable host country environments have hindered the
implementation of successful management practices. The Ukrainian
market, in light of recent events, is particularly interesting to study
for its compatibility with Western businesses. This paper focuses on
factors that can facilitate or inhibit the transfer of human resource
management practices from Western headquarters to Ukrainian
subsidiaries. To explain the national context’s effects better, a
business systems approach has been applied to a qualitative study of
16 wholly owned Western subsidiaries, dissecting the reasons for a
weak integration of Western practices in Ukraine. Results show that
underdeveloped institutions have forced companies to develop
additional practices that compensate for national weaknesses, as well
as to adjust to a constantly changing environment. Flexibility and
local responsiveness were observed as vital for success in Ukraine.
Abstract: The efficiency of the actuation system of exoskeletons
and active orthoses for lower limbs is a significant aspect of the
design of such devices because it affects their efficacy. The F-IVT is
an innovative actuation system to power artificial knee joint with
energy recovery capabilities. Its key and non-conventional elements
are a flywheel that acts as a mechanical energy storage system, and
an Infinitely Variable Transmission (IVT). The design of the F-IVT
can be optimized for a certain walking condition, resulting in a heavy
reduction of both the electric energy consumption and of the electric
peak power. In this work, by means of simulations of level ground
walking at different speeds, it is demonstrated that the F-IVT is still
an advantageous actuator which permits to save energy consumption
and to downsize the electric motor even when it does not work in
nominal conditions.
Abstract: The purpose of the paper is to examine the most
critical and important factor which will affect the implementation of
Total Quality Management (TQM) in the construction industry in the
United Arab Emirates. It also examines the most effected Project
outcome from implementing TQM. A framework was also proposed
depending on the literature studies. The method used in this paper is a
quantitative study. A survey with a sample of 60 respondents was
created and distributed in a construction company in Abu Dhabi,
which includes 15 questions to examine the most critical factor that
will affect the implementation of TQM in addition to the most
effected project outcome from implementing TQM. The survey
showed that management commitment is the most important factor in
implementing TQM in a construction company. Also it showed that
Project cost is most effected outcome from the implementation of
TQM.
Management commitment is very important for implementing
TQM in any company. If the management loose interest in quality
then everyone in the organization will do so. The success of TQM
will depend mostly on the top of the pyramid. Also cost is reduced
and money is saved when the project team implement TQM. While if
no quality measures are present within the team, the project will
suffer a commercial failure.
Based on literature, more factors can be examined and added to
the model. In addition, more construction companies could be
surveyed in order to obtain more accurate results. Also this study
could be conducted outside the United Arab Emirates for further
enchantment.
Abstract: We report the microstructural and magnetic properties
of Ni50Mn39Sn11 and Ni50Mn36Sn14 ribbon Heusler alloys.
Experimental results were obtained by differential scanning
calorymetry, X-ray diffraction and vibrating sample magnetometry
techniques. The Ni-Mn-Sn system undergoes a martensitic structural
transformation in a wide temperature range. For example, for
Ni50Mn39Sn11 the start and finish temperatures of the martensitic and
austenite phase transformation for ribbon alloy were Ms=336K,
Mf=328K, As=335K and Af=343K whereas no structural
transformation is observed for Ni50Mn36Sn14 alloys. Magnetic
measurements show the typical ferromagnetic behavior with Curie
temperature 207 K at low applied field of 50 Oe. The complex
behavior exhibited by these Heusler alloys should be ascribed to the
strong coupling between magnetism and structure, being their
magnetic behavior determined by the distance between Mn atoms.
Abstract: Availability of different genetic tests after completion
of Human Genome Project increases the physicians’ responsibility to
keep themselves update on the potential implementation of these
genetic tests in their daily practice. However, due to numbers of
barriers, still many of physicians are not either aware of these tests or
are not willing to offer or refer their patients for genetic tests. This
study was conducted an anonymous, cross-sectional, mailed-based
survey to develop a primary data of Malaysian physicians’ level of
knowledge and perception of gene profiling. Questionnaire had 29
questions. Total scores on selected questions were used to assess the
level of knowledge. The highest possible score was 11. Descriptive
statistics, one way ANOVA and chi-squared test was used for
statistical analysis. Sixty three completed questionnaires were
returned by 27 general practitioners (GPs) and 36 medical specialists.
Responders’ age ranges from 24 to 55 years old (mean 30.2 ± 6.4).
About 40% of the participants rated themselves as having poor level
of knowledge in genetics in general whilst 60% believed that they
have fair level of knowledge; however, almost half (46%) of the
respondents felt that they were not knowledgeable about available
genetic tests. A majority (94%) of the responders were not aware of
any lab or company which is offering gene profiling services in
Malaysia. Only 4% of participants were aware of using gene profiling
for detection of dosage of some drugs. Respondents perceived greater
utility of gene profiling for breast cancer (38%) compared to the
colorectal familial cancer (3%). The score of knowledge ranged from
2 to 8 (mean 4.38 ± 1.67). Non- significant differences between score
of knowledge of GPs and specialists were observed, with score of
4.19 and 4.58 respectively. There was no significant association
between any demographic factors and level of knowledge. However,
those who graduated between years 2001 to 2005 had higher level of
knowledge. Overall, 83% of participants showed relatively high level
of perception on value of gene profiling to detect patient’s risk of
disease. However, low perception was observed for both statements
of using gene profiling for general population in order to alter their
lifestyle (25%) as well as having the full sequence of a patient
genome for the purpose of determining a patient’s best match for
treatment (18%). The lack of clinical guidelines, limited provider
knowledge and awareness, lack of time and resources to educate
patients, lack of evidence-based clinical information and cost of tests
were the most barriers of ordering gene profiling mentioned by
physicians. In conclusion Malaysian physicians who participate in
this study had mediocre level of knowledge and awareness in gene
profiling. The low exposure to the genetic questions and problems
might be a key predictor of lack of awareness and knowledge on
available genetic tests. Educational and training workshop might be useful in helping Malaysian physicians incorporate genetic profiling
into practice for eligible patients.
Abstract: This study was carried out to investigate the adverse
effect of industrial wastewater on surface water quality in Gebeng
industrial estate, Pahang, Malaysia. Surface water was collected from
six sampling stations. Physicochemical parameters were
characterized based on in-situ and ex-situ analysis according to
standard methods by American Public Health Association (APHA).
Selected heavy metals were determined by using Inductively Coupled
Plasma Mass Spectrometry (ICP MS). The results revealed that the
concentration of heavy metals such as Pb, Cu, Cd, Cr and Hg were
high in samples. The results also showed that the value of Pb and Hg
were higher in the wet season in comparison to dry season.
According to Malaysia National Water Quality Standard (NWQS)
and Water Quality Index (WQI) all the sampling station were
categorized as class IV (highly polluted). The present study revealed
that the adverse effects of careless disposal of wastes and directly
discharge of effluents affected on surface water quality. Therefore,
the authorities should implement the laws to ensure the proper
practices of wastewater management for environmental sustainability
around the study area.
Abstract: The present research work investigates the seismic
response of reinforced concrete (RC) frame building considering the
effect of modeling masonry infill (MI) walls. The seismic behavior of
a residential 6-storey RC frame building, considering and ignoring
the effect of masonry, is numerically investigated using response
spectrum (RS) analysis. The considered herein building is designed
as a moment resisting frame (MRF) system following the Egyptian
code (EC) requirements. Two developed models in terms of bare
frame and infill walls frame are used in the study. Equivalent
diagonal strut methodology is used to represent the behavior of infill
walls, whilst the well-known software package ETABS is used for
implementing all frame models and performing the analysis. The
results of the numerical simulations such as base shear,
displacements, and internal forces for the bare frame as well as the
infill wall frame are presented in a comparative way. The results of
the study indicate that the interaction between infill walls and frames
significantly change the responses of buildings during earthquakes
compared to the results of bare frame building model. Specifically,
the seismic analysis of RC bare frame structure leads to
underestimation of base shear and consequently damage or even
collapse of buildings may occur under strong shakings. On the other
hand, considering infill walls significantly decrease the peak floor
displacements and drifts in both X and Y-directions.
Abstract: Technology, multimedia in Open Educational
Resources, can contribute positively to student performance in an
online instructional environment. Student performance data of past
four years were obtained from an online course entitled Applied
Calculus (MA139). This paper examined the data to determine
whether multimedia (independent variable) had any impact on
student performance (dependent variable) in online math learning,
and how students felt about the value of the technology. Two groups
of student data were analyzed, group 1 (control) from the online
applied calculus course that did not use multimedia instructional
materials, and group 2 (treatment) of the same online applied calculus
course that used multimedia instructional materials. For the MA139
class, results indicate a statistically significant difference (p = .001)
between the two groups, where group 1 had a final score mean of
56.36 (out of 100), group 2 of 70.68. Additionally, student
testimonials were discussed in which students shared their experience
in learning applied calculus online with multimedia instructional
materials.
Abstract: In this paper, we will analyze the relationship between the neo-liberal concept of property rights and redistribution policy. This issue is back in the focus of interest due to the crisis 2008. The crisis has reaffirmed the influence of the state on the free-market processes. The interference of the state with property relations reopened a classical question: is it legitimate to redistribute resources of a man in favor of another man with taxes? The dominant view is that the neoliberal philosophy of natural rights is incompatible with redistributive measures. In principle, this view can be accepted. However, when we look into the details of the theory of natural rights proposed by some coryphaei of neoliberal philosophy, such as Hayek, Nozick, Buchanan and Rothbard, we can see that it is not such an unequivocal view.
Abstract: Chrome tannery wastewater causes serious environmental hazard due to its high pollution potential. As a result, rigorous treatment is necessary for abatement of pollution from this type of wastewater. There are many research studies on chrome tannery wastewater treatment in the field of physical, chemical, and biological methods. In general, biological treatment process is found ineffective for direct application because of adverse effects by toxic chromium, sulphide, chloride etc. However, biological methods were employed mainly for a few sub processes generating significant amount of organic matter and without chromium, chlorides etc. In this context the present paper reviews the characteristics feature and pollution potential of wastewater generated from chrome tannery units and treatment of the same. The different biological processes used earlier and their chronological development for treatment of the chrome tannery wastewater are thoroughly reviewed in this paper. In this regard, the scope of hybrid bioreactor - an advanced technology option has also been explored, as this kind of treatment is well suited for the wastewater having inhibitory substances.
Abstract: In this study, ultrasonic assisted machining (UAM) technique is applied in side-surface milling experiment for glass-ceramic workpiece material. The tungsten carbide cutting-tool with diamond coating is used in conjunction with two kinds of cooling/lubrication mediums such as water-soluble (WS) cutting fluid and minimum quantity lubricant (MQL). Full factorial process parameter combinations on the milling experiments are planned to investigate the effect of process parameters on cutting performance. From the experimental results, it tries to search for the better process parameter combination which the edge-indentation and the surface roughness are acceptable. In the machining experiments, ultrasonic oscillator was used to excite a cutting-tool along the radial direction producing a very small amplitude of vibration frequency of 20KHz to assist the machining process. After processing, toolmaker microscope was used to detect the side-surface morphology, edge-indentation and cutting tool wear under different combination of cutting parameters, and analysis and discussion were also conducted for experimental results. The results show that the main leading parameters to edge-indentation of glass ceramic are cutting depth and feed rate. In order to reduce edge-indentation, it needs to use lower cutting depth and feed rate. Water-soluble cutting fluid provides a better cooling effect in the primary cutting area; it may effectively reduce the edge-indentation and improve the surface morphology of the glass ceramic. The use of ultrasonic assisted technique can effectively enhance the surface finish cleanness and reduce cutting tool wear and edge-indentation.
Abstract: The principle of the seismic performance evaluation methods is to provide a measure of capability for a building or set of buildings to be damaged by an earthquake. The common objective of many of these methods is to supply classification criteria. The purpose of this study is to present a method for assessing the seismic performance of structures, based on Pushover method; we are particularly interested in reinforced concrete frame structures, which represent a significant percentage of damaged structures after a seismic event. The work is based on the characterization of seismic movement of the various earthquake zones in terms of PGA and PGD that is obtained by means of SIMQK_GR and PRISM software and the correlation between the points of performance and the scalar characterizing the earthquakes will developed.
Abstract: Introduction: Researchers globally have strived to explore diverse factors that augment the continuation and uptake of family planning methods. Clients’ satisfaction is one of the core determinants facilitating continuation of family planning methods. There is a major debate yet scanty evidence to contrast public and private sectors with respect to client satisfaction. The objective of this study is to compare quality-of-care provided by public and private sectors of Pakistan through a client satisfaction lens. Methods: We used Pakistan Demographic Heath Survey 2012-13 dataset on 3133 women. Ten different multivariate models were made. to explore the relationship between client satisfaction and dependent outcome after adjusting for all known confounding factors and results are presented as OR and AOR (95% CI). Results: Multivariate analyses showed that clients were less satisfied in contraceptive provision from private sector as compared to public sector (AOR 0.92, 95% CI 0.63-1.68) even though the result was not statistically significant. Clients were more satisfied from private sector as compared to the public sector with respect to other determinants of quality-of-care follow-up care (AOR 3.29, 95% CI 1.95-5.55), infection prevention (AOR 2.41, 95% CI 1.60-3.62), counseling services (AOR 2.01, 95% CI 1.27-3.18, timely treatment (AOR 3.37, 95% CI 2.20-5.15), attitude of staff (AOR 2.23, 95% CI 1.50-3.33), punctuality of staff (AOR 2.28, 95% CI 1.92-4.13), timely referring (AOR 2.34, 95% CI 1.63-3.35), staff cooperation (AOR 1.75, 95% CI 1.22-2.51) and complications handling (AOR 2.27, 95% CI 1.56-3.29). Discussion: Public sector has successfully attained substantial satisfaction levels with respect to provision of contraceptives, but it contrasts previous literature from a multi country studies. Our study though in is concordance with a study from Tanzania where public sector was more likely to offer family planning services to clients as compared to private facilities. Conclusion: In majority of the developing countries, public sector is more involved in FP service provision; however, in Pakistan clients’ satisfaction in private sector is more, which opens doors for public-private partnerships and collaboration in the near future.
Abstract: Reflux condensation occurs in vertical channels and tubes when there is an upward core flow of vapour (or gas-vapour mixture) and a downward flow of the liquid film. The understanding of this condensation configuration is crucial in the design of reflux condensers, distillation columns, and in loss-of-coolant safety analyses in nuclear power plant steam generators. The unique feature of this flow is the upward flow of the vapour-gas mixture (or pure vapour) that retards the liquid flow via shear at the liquid-mixture interface. The present model solves the full, elliptic governing equations in both the film and the gas-vapour core flow. The computational mesh is non-orthogonal and adapts dynamically the phase interface, thus produces a sharp and accurate interface. Shear forces and heat and mass transfer at the interface are accounted for fundamentally. This modeling is a big step ahead of current capabilities by removing the limitations of previous reflux condensation models which inherently cannot account for the detailed local balances of shear, mass, and heat transfer at the interface. Discretisation has been done based on finite volume method and co-located variable storage scheme. An in-house computer code was developed to implement the numerical solution scheme. Detailed results are presented for laminar reflux condensation from steam-air mixtures flowing in vertical parallel plate channels. The results include velocity and gas mass fraction profiles, as well as axial variations of film thickness.
Abstract: A chromium-loaded ash originating from incineration of tannery sludge under anoxic conditions was mixed with low grade soda-lime glass powder coming from commercial glass bottles. The relative weight proportions of ash over glass powder tested were 30/70, 40/60 and 50/50. The solid mixtures, formed in green state compacts, were sintered at the temperature range of 800o C up to 1200o C. The resulting products were characterized by X-ray diffraction (XRD), scanning electron microscopy (SEM), energy dispersive X-ray spectrometry (EDXS) and micro-indentation. The above methods were employed to characterize the various phases, microstructure and hardness of the produced materials. Thermal treatment at 800o C and 1000o C produced opaque ceramic products composed of a variety of chromium-containing and chromium-free crystalline phases. Thermal treatment at 1200o C gave rise to composite products, where only chromium-containing crystalline phases were detected. Hardness results suggest that specific products are serious candidates for structural applications.