Abstract: High redundancy and strong uncertainty are two main characteristics for underwater robotic manipulators with unlimited workspace and mobility, but they also make the motion planning and control difficult and complex. In order to setup the groundwork for the research on control schemes, the mathematical representation is built by using the Denavit-Hartenberg (D-H) method [9]&[12]; in addition to the geometry of the manipulator which was studied for establishing the direct and inverse kinematics. Then, the dynamic model is developed and used by employing the Lagrange theorem. Furthermore, derivation and computer simulation is accomplished using the MATLAB environment. The result obtained is compared with mechanical system dynamics analysis software, ADAMS. In addition, the creation of intelligent artificial skin using Interlink Force Sensing ResistorTM technology is presented as groundwork for future work
Abstract: In this paper, a comparative study of application of
supervised and unsupervised learning algorithms on illumination
invariant face recognition has been carried out. The supervised
learning has been carried out with the help of using a bi-layered
artificial neural network having one input, two hidden and one output
layer. The gradient descent with momentum and adaptive learning
rate back propagation learning algorithm has been used to implement
the supervised learning in a way that both the inputs and
corresponding outputs are provided at the time of training the
network, thus here is an inherent clustering and optimized learning of
weights which provide us with efficient results.. The unsupervised
learning has been implemented with the help of a modified
Counterpropagation network. The Counterpropagation network
involves the process of clustering followed by application of Outstar
rule to obtain the recognized face. The face recognition system has
been developed for recognizing faces which have varying
illumination intensities, where the database images vary in lighting
with respect to angle of illumination with horizontal and vertical
planes. The supervised and unsupervised learning algorithms have
been implemented and have been tested exhaustively, with and
without application of histogram equalization to get efficient results.
Abstract: A fundamental model consisting of charged particles
moving in free space exposed to alternating and direct current (ACDC)
electromagnetic fields is analyzed. Effects of charged particles
initial position and initial velocity to cyclotron resonance frequency
are observed. Strong effects are observed revealing that effects of
electric and magnetic fields on a charged particle in free space
varies with the initial conditions. This indicates the frequency where
maximum displacement occur can be changed. At this frequency
the amplitude of oscillation of the particle displacement becomes
unbounded.
Abstract: The mechanical deformation and the electrical conductivity of lanthanum strontium cobalt ferrite oxide under uniaxial compression were investigated at various temperatures up to 1073 K. The material reveals a rather complex mechanical behaviour related to its ferroelasticity and completely different stress-strain curves are obtained during the 1st and 2nd loading cycles. A distinctive ferroelastic creep was observed at 293 K whilst typical ferroelastic stress-strain curve were obtained in the temperature range from 473 K to 873 K. At 1073 K, on the other hand, high-temperature creep deformation was observed instead of ferroelastic deformation. The conductivity increases with increasing compressive stress at all the temperatures. The increase in conductivity is related to both geometrical and piezoelectric effects. From 293 K to 873 K, where the material exhibits ferroelastic behaviour, the variation in the total conductivity decreases with increasing temperature. The contribution of the piezoelectric effect to the total conductivity variation also decreases with increasing temperature and the maximum in piezoconductivity has a value of about 0.75 % at 293 K for a compressive stress of 100 MPa. There is no effect of domain switching on conductivity except for the geometric effect. At 1073 K, the conductivity is simply proportional to the compressive strain.
Abstract: Image clustering is a process of grouping images
based on their similarity. The image clustering usually uses the color
component, texture, edge, shape, or mixture of two components, etc.
This research aims to explore image clustering using color
composition. In order to complete this image clustering, three main
components should be considered, which are color space, image
representation (feature extraction), and clustering method itself. We
aim to explore which composition of these factors will produce the
best clustering results by combining various techniques from the
three components. The color spaces use RGB, HSV, and L*a*b*
method. The image representations use Histogram and Gaussian
Mixture Model (GMM), whereas the clustering methods use KMeans
and Agglomerative Hierarchical Clustering algorithm. The
results of the experiment show that GMM representation is better
combined with RGB and L*a*b* color space, whereas Histogram is
better combined with HSV. The experiments also show that K-Means
is better than Agglomerative Hierarchical for images clustering.
Abstract: The Navier Stokes Equations (NSE) for an incompressible fluid of variable viscosity in the presence of an unknown external force in Von-Mises system x,\ are transformed, and some new exact solutions for a class of flows characterized by equation y f x a\b for an arbitrary state equation are determined, where f x is a function, \ the stream function, a z 0 and b are the arbitrary constants. In three, out of four cases, the function f x is arbitrary, and the solutions are the solutions of the flow equations for all the flows characterized by the equationy f x a\b. Streamline patterns for some forms of f x in unbounded and bounded regions are given.
Abstract: A new numerical method for simultaneously updating mass and stiffness matrices based on incomplete modal measured data is presented. By using the Kronecker product, all the variables that are to be modified can be found out and then can be updated directly. The optimal approximation mass matrix and stiffness matrix which satisfy the required eigenvalue equation and orthogonality condition are found under the Frobenius norm sense. The physical configuration of the analytical model is preserved and the updated model will exactly reproduce the modal measured data. The numerical example seems to indicate that the method is quite accurate and efficient.
Abstract: Factor analysis was applied to two stages biogas
production from banana stem waste allowing a screening of the
experimental variables second stage temperature (T), organic loading
rates (OLR) and hydraulic retention times (HRT). Biogas production
was found to be strongly influenced by all the above experimental
variables. Results from factorial analysis have shown that all
variables which were HRT, OLR and T have significant effect to
biogas production. Increased in HRT and OLR could increased the
biogas yield. The performance was tested under the conditions of
various T (35oC-60oC), OLR (0.3 g TS/l.d–1.9 gTS/l.d), and HRT (3
d–15 d). Conditions for temperature, OLR and HRT in this study
were based on the best range obtained from literature review.
Abstract: Real world Speaker Identification (SI) application
differs from ideal or laboratory conditions causing perturbations that
leads to a mismatch between the training and testing environment
and degrade the performance drastically. Many strategies have been
adopted to cope with acoustical degradation; wavelet based Bayesian
marginal model is one of them. But Bayesian marginal models
cannot model the inter-scale statistical dependencies of different
wavelet scales. Simple nonlinear estimators for wavelet based
denoising assume that the wavelet coefficients in different scales are
independent in nature. However wavelet coefficients have significant
inter-scale dependency. This paper enhances this inter-scale
dependency property by a Circularly Symmetric Probability Density
Function (CS-PDF) related to the family of Spherically Invariant
Random Processes (SIRPs) in Log Gabor Wavelet (LGW) domain
and corresponding joint shrinkage estimator is derived by Maximum
a Posteriori (MAP) estimator. A framework is proposed based on
these to denoise speech signal for automatic speaker identification
problems. The robustness of the proposed framework is tested for
Text Independent Speaker Identification application on 100 speakers
of POLYCOST and 100 speakers of YOHO speech database in three
different noise environments. Experimental results show that the
proposed estimator yields a higher improvement in identification
accuracy compared to other estimators on popular Gaussian Mixture
Model (GMM) based speaker model and Mel-Frequency Cepstral
Coefficient (MFCC) features.
Abstract: Mutations of the telomeric copy of the survival motor neuron 1 (SMN1) gene cause spinal muscular atrophy. A deletion of the Eef1a2 gene leads to lower motor neuron degeneration in wasted mice. Indirect evidences have been shown that the eEF1A protein family may interact with SMN, and our previous study showed that abnormalities of neuromuscular junctions in wasted mice were similar to those of Smn mutant mice. To determine potential colocalization between SMN and tissue-specific translation elongation factor 1A2 (eEF1A2), an immunochemical analysis of HeLa cells transfected with the plasmid pcDNA3.1(+)C-hEEF1A2- myc and a new quantitative test of colocalization by intensity correlation analysis (ICA) was used to explore the association of SMN and eEF1A2. Here the results showed that eEF1A2 redistributed from the cytoplasm to the nucleus in response to serum and epidermal growth factor. In the cytoplasm, compelling evidence showed that staining for myc-tagged eEF1A2 varied in synchrony with that for SMN, consistent with the formation of a SMN-eEF1A2 complex in the cytoplasm of HeLa cells. These findings suggest that eEF1A2 may colocalize with SMN in the cytoplasm and may be a component of the SMN complex. However, the limitation of the ICA method is an inability to resolve colocalization in components of small organelles such as the nucleus.
Abstract: When an assignable cause(s) manifests itself to a multivariate process and the process shifts to an out-of-control condition, a root-cause analysis should be initiated by quality engineers to identify and eliminate the assignable cause(s) affected the process. A root-cause analysis in a multivariate process is more complex compared to a univariate process. In the case of a process involved several correlated variables an effective root-cause analysis can be only experienced when it is possible to identify the required knowledge including the out-of-control condition, the change point, and the variable(s) responsible to the out-of-control condition, all simultaneously. Although literature addresses different schemes to monitor multivariate processes, one can find few scientific reports focused on all the required knowledge. To the best of the author’s knowledge this is the first time that a multi task model based on artificial neural network (ANN) is reported to monitor all the required knowledge at the same time for a multivariate process with more than two correlated quality characteristics. The performance of the proposed scheme is evaluated numerically when different step shifts affect the mean vector. Average run length is used to investigate the performance of the proposed multi task model. The simulated results indicate the multi task scheme performs all the required knowledge effectively.
Abstract: Pyrolysis of waste tire is one of alternative technique
to produce petrochemicals, such as light olefins, mixed C4, and monoaromatics.
Noble metals supported on acid zeolite catalysts were
reported as potential catalysts to produce the high valuable products
from waste tire pyrolysis. Especially, Pd supported on HBeta gave a
high yield of olefins, mixed C4, and mono-aromatics. Due to the high
prices of noble metals, the objective of this work was to investigate
whether or not a non-noble Ni metal can be used as a substitute of a
noble metal, Pd, supported on HBeta as a catalyst for waste tire pyrolysis.
Ni metal was selected in this work because Ni has high activity
in cracking, isomerization, hydrogenation and the ring opening of
hydrocarbons Moreover, Ni is an element in the same group as Pd
noble metal, which is VIIIB group, aiming to produce high valuable
products similarly obtained from Pd. The amount of Ni was varied as
5, 10, and 20% by weight, for comparison with a fixed 1 wt% Pd,
using incipient wetness impregnation. The results showed that as a
petrochemical-producing catalyst, 10%Ni/HBeta performed better
than 1%Pd/HBeta because it did not only produce the highest yield of
olefins and cooking gases, but the yields were also higher than
1%Pd/HBeta. 5%Ni/HBeta can be used as a substitute of
1%Pd/HBeta for similar crude production because its crude contains
the similar amounts of naphtha and saturated HCs, although it gave
no concentration of light mono-aromatics (C6-C11) in the oil. Additionally,
10%Ni/HBeta that gave high olefins and cooking gases was
found to give a fairly high concentration of the light mono-aromatics
in the oil.
Abstract: The present study examines the mediating effect of
online flow experience on the relationship between extraversionintroversion,
locus of control and loneliness, and depression and
satisfaction with life. The data was obtained using a structured
questionnaire prepared by adapting standardized scales available from
a sample of 102 engineering students from different technical
institutions at Bhubaneswar, India. The results indicate that there is a
positive significant relationship between introversion, external locus
of control, loneliness, depression and online flow experience, and
extraversion, internal locus of control and satisfaction with life. The
results also suggest that online flow experience mediates the
relationship between the aforementioned variables.
Abstract: The Spalart and Allmaras turbulence model has been
implemented in a numerical code to study the compressible turbulent
flows, which the system of governing equations is solved with a
finite volume approach using a structured grid. The AUSM+ scheme
is used to calculate the inviscid fluxes. Different benchmark
problems have been computed to validate the implementation and
numerical results are shown. A special Attention is paid to wall jet
applications. In this study, the jet is submitted to various wall
boundary conditions (adiabatic or uniform heat flux) in forced
convection regime and both two-dimensional and axisymmetric wall
jets are considered. The comparison between the numerical results
and experimental data has given the validity of this turbulence model
to study the turbulent wall jets especially in engineering applications.
Abstract: Solar energy is not only sustainable but also a clean
alternative to be used as source of high temperature heat for many
processes and power generation. However, the major drawback of
solar energy is its transient nature. Especially in solar
thermochemical processing, it is crucial to maintain constant or semiconstant
temperatures inside the solar reactor. In our laboratory, we
have developed a mechanism allowing us to achieve semi-constant
temperature inside the solar reactor. In this paper, we introduce the
concept along with some updated designs and provide the optical
analysis of the concept under various incoming flux.
Abstract: In this paper, a novel corner detection method is
presented to stably extract geometrically important corners.
Intensity-based corner detectors such as the Harris corner can detect
corners in noisy environments but has inaccurate corner position and
misses the corners of obtuse angles. Edge-based corner detectors such
as Curvature Scale Space can detect structural corners but show
unstable corner detection due to incomplete edge detection in noisy
environments. The proposed image-based direct curvature estimation
can overcome limitations in both inaccurate structural corner detection
of the Harris corner detector (intensity-based) and the unstable corner
detection of Curvature Scale Space caused by incomplete edge
detection. Various experimental results validate the robustness of the
proposed method.
Abstract: At the time where electronic books, or e-Books, offer
students a fun way of learning , teachers who are used to the paper
text books may find it as a new challenge to use it as a part of
learning process. Precisely, there are various types of e-Books
available to suit students- knowledge, characteristics, abilities, and
interests. The paper discusses teachers- perceptions on the use of ebooks
as a paper text book in the classroom. A survey was conducted
on 72 teachers who use e-books as textbooks. It was discovered that a
majority of these teachers had good perceptions on the use of ebooks.
However, they had little problems using the devices. It can be
overcome with some strategies and a suggested framework.
Abstract: The effects of commercial or bovine yeasts on the
performance and blood variables of broiler chickens intoxicated with
aflatoxin were investigated in broilers. Four hundred eighty broilers
(Arbor Acres; 3-wk-old) were randomly assigned to 4 groups. Each
group (120 broiler chickens) was further randomly divided into 6
replicates of 20 chickens. The treatments were control diet without
additives (treatment 1), 250 ppb AFB1 (treatment 2), commercial
yeast, Saccharomyces cerevisiae, (CY 2.5 x 107 CFU/g) + 250 ppb
AFB1 (treatment 3) and bovine yeast, Saccharomyces cerevisiae,
(BY 2.5 x 107 CFU/g + 250 ppb AFB1 (treatment 4). Complete
randomized design (CRD) was used in the experiment. Feed
consumption and body weight were recorded at every five-day
period. On day 42, carcass compositions were determined from 30
birds per treatment. While chicks were sacrificed, 3-4 ml blood
sample was taken and stored frozen at (-20°C) for serum chemical
analysis to determine effects of consumption of diets on blood
chemistry (total protein, albumin, glucose, urea, cholesterol and
triglycerides). There were no significant differences in ADFI among
the treatments(P>0.05). However, BWG, FCR and mortality were
highly significantly different (P
Abstract: A multiphase harmonic load flow algorithm is developed based on backward/forward sweep to examine the effects of various factors on the neutral to earth voltage (NEV), including unsymmetrical system configuration, load unbalance and harmonic injection. The proposed algorithm composes fundamental frequency and harmonic frequencies power flows. The algorithm and the associated models are tested on IEEE 13 bus system. The magnitude of NEV is investigated under various conditions of the number of grounding rods per feeder lengths, the grounding rods resistance and the grounding resistance of the in feeding source. Additionally, the harmonic injection of nonlinear loads has been considered and its influences on NEV under different conditions are shown.
Abstract: The IFRS for Small and Medium-sized Entities
(SMEs) was issued in July 2009 and currently regulators are
considering various implementation strategies of this standard.
Romania is a member of the European Union since 2007, thus
accounting regulations were issued in order to ensure compliance
with the European Accounting Directives. As the European
Commission rejected recently the mandatory use of IFRS for SMEs,
regulatory bodies from the Member States have to decide if the
standard will affect or not the accounting practices of SMEs from
their countries. Recently IASB invited stakeholders to discuss the
revision of IFRS for SMEs. Empirical studies on the differences and
similarities between national standards and IFRS for SMEs could
inform decision makers on the actual level of convergence in
different countries. The purpose of this paper is to provide empirical
evidences on the convergence of the Romanian regulations with IFRS
for SMEs analyzing the results in the context of the last revisions
proposed to the EU Accounting Directives.