Abstract: This paper investigates simple implicit force control
algorithms realizable with industrial robots. A lot of approaches
already published are difficult to implement in commercial robot
controllers, because the access to the robot joint torques is necessary
or the complete dynamic model of the manipulator is used. In
the past we already deal with explicit force control of a position
controlled robot. Well known schemes of implicit force control are
stiffness control, damping control and impedance control. Using such
algorithms the contact force cannot be set directly. It is further
the result of controller impedance, environment impedance and
the commanded robot motion/position. The relationships of these
properties are worked out in this paper in detail for the chosen
implicit approaches. They have been adapted to be implementable
on a position controlled robot. The behaviors of stiffness control
and damping control are verified by practical experiments. For this
purpose a suitable test bed was configured. Using the full mechanical
impedance within the controller structure will not be practical in the
case when the robot is in physical contact with the environment. This
fact will be verified by simulation.
Abstract: Thousands of organisations store important and
confidential information related to them, their customers, and their
business partners in databases all across the world. The stored data
ranges from less sensitive (e.g. first name, last name, date of birth) to
more sensitive data (e.g. password, pin code, and credit card
information). Losing data, disclosing confidential information or
even changing the value of data are the severe damages that
Structured Query Language injection (SQLi) attack can cause on a
given database. It is a code injection technique where malicious SQL
statements are inserted into a given SQL database by simply using a
web browser. In this paper, we propose an effective pattern
recognition neural network model for detection and classification of
SQLi attacks. The proposed model is built from three main elements
of: a Uniform Resource Locator (URL) generator in order to generate
thousands of malicious and benign URLs, a URL classifier in order
to: 1) classify each generated URL to either a benign URL or a
malicious URL and 2) classify the malicious URLs into different
SQLi attack categories, and a NN model in order to: 1) detect either a
given URL is a malicious URL or a benign URL and 2) identify the
type of SQLi attack for each malicious URL. The model is first
trained and then evaluated by employing thousands of benign and
malicious URLs. The results of the experiments are presented in
order to demonstrate the effectiveness of the proposed approach.
Abstract: The purpose of the paper is to estimate the US small
wind turbines market potential and forecast the small wind turbines
sales in the US. The forecasting method is based on the application of
the Bass model and the generalized Bass model of innovations
diffusion under replacement purchases. In the work an exponential
distribution is used for modeling of replacement purchases. Only one
parameter of such distribution is determined by average lifetime of
small wind turbines. The identification of the model parameters is
based on nonlinear regression analysis on the basis of the annual
sales statistics which has been published by the American Wind
Energy Association (AWEA) since 2001 up to 2012. The estimation
of the US average market potential of small wind turbines (for
adoption purchases) without account of price changes is 57080
(confidence interval from 49294 to 64866 at P = 0.95) under average
lifetime of wind turbines 15 years, and 62402 (confidence interval
from 54154 to 70648 at P = 0.95) under average lifetime of wind
turbines 20 years. In the first case the explained variance is 90,7%,
while in the second - 91,8%. The effect of the wind turbines price
changes on their sales was estimated using generalized Bass model.
This required a price forecast. To do this, the polynomial regression
function, which is based on the Berkeley Lab statistics, was used. The
estimation of the US average market potential of small wind turbines
(for adoption purchases) in that case is 42542 (confidence interval
from 32863 to 52221 at P = 0.95) under average lifetime of wind
turbines 15 years, and 47426 (confidence interval from 36092 to
58760 at P = 0.95) under average lifetime of wind turbines 20 years.
In the first case the explained variance is 95,3%, while in the second
– 95,3%.
Abstract: Sol-enhanced Zn-Ni-Al2O3 nanocomposite coatings
were electroplated on mild steel by our newly developed solenhanced
electroplating method. In this method, transparent Al2O3 sol
was added into the acidic Zn-Ni bath to produced Zn-Ni-Al2O3nanocomposite
coatings. The chemical composition, microstructure and
mechanical properties of the composite and alloy coatings deposited
at two different agitation speed were investigated. The structure of all
coatings was single γ-Ni5Zn21 phase. The composite coatings possess
refined crystals with higher microhardness compared to Zn-Ni alloy
coatings. The wear resistance of Zn-Ni coatings was improved
significantly by incorporation of alumina nano particles into the
coatings. Higher agitation speed provided more uniform coatings
with smaller grain sized and slightly higher microhardness.
Considering composite coatings, high agitation speeds may facilitate
co-deposition of alumina in the coatings.
Abstract: Transportation of long turbine blades from one place
to another is a difficult process. Hence a feasibility study of
modularization of wind turbine blade was taken from structural
standpoint through finite element analysis. Initially, a non-segmented
blade is modeled and its structural behavior is evaluated to serve as
reference. The resonant, static bending and fatigue tests are simulated
in accordance with IEC61400-23 standard for comparison purpose.
The non-segmented test blade is separated at suitable location based
on trade off studies and the segments are joined with an innovative
double strap bonded joint configuration. The adhesive joint is
modeled by adopting cohesive zone modeling approach in ANSYS.
The developed blade model is analyzed for its structural response
through simulation. Performances of both the blades are found to be
similar, which indicates that, efficient segmentation of the long blade
is possible which facilitates easy transportation of the blades and on
site reassembling. The location selected for segmentation and
adopted joint configuration has resulted in an efficient segmented
blade model which proves the methodology adopted for segmentation
was quite effective. The developed segmented blade appears to be the
viable alternative considering its structural response specifically in
fatigue within considered assumptions.
Abstract: The area of liberty, security and justice within the
European Union is still a work in progress. No one can deny that the
EU struggles between a monistic and a dualist approach.
The aim of our essay is to first review how the European law is
perceived by the rest of the international scene. It will then discuss
two main mechanisms at play: the interpretation of larger
international treaties and the penal mechanisms of European law.
Finally, it will help us understand the role of a penal Europe on the
international scene with concrete examples.
Special attention will be paid to cases that deal with fundamental
rights as they represent an interesting case study in Europe and in the
rest of the World. It could illustrate the aforementioned duality
currently present in the Union’s interpretation of international public
law. On the other hand, it will explore some specific European penal
mechanism through mutual recognition and the European arrest
warrant in the transnational criminality frame.
Concerning the interpretation of the treaties, it will first, underline
the ambiguity and the general nature of some treaties that leave the
EU exposed to tension and misunderstanding then it will review the
validity of an EU act (whether or not it is compatible with the rules of
International law).
Finally, it will focus on the most complete manifestation of liberty,
security and justice through the principle of mutual recognition. Used
initially in commercial matters, it has become “the cornerstone” of
European construction. It will see how it is applied in judicial
decisions (its main event and achieving success is via the European
arrest warrant) and how European member states have managed to
develop this cooperation.
Abstract: Aim of this work is to determine the theoretical and
experimental properties of filament wound glass fiber/epoxy resin
composite pipes with different winding design subjected under
bending. For determination of bending strength of composite samples
three point bending tests were conducted. Good correlation between
theoretical and experimental results has been obtained, where sample
No4 has shown the highest value of bending strength. All samples
have demonstrated matrix cracking and fiber failure followed by
layers delamination during testing. Also, it was found that smaller
winding angles lead to an increase in bending stress. From presented
results good merger between glass fibers and epoxy resin was
confirmed by SEM analysis.
Abstract: In this study, firstly democratic thoughts which
directly or indirectly affect economic development and/or the
interaction between authoritarian regimes and the economic
development and the direction and channels of this interaction were
studied and then the study tried to determine how democracy affects
economic development. It was concluded that the positive
contributions of democracy to economic development were more
determinant than the effects that were either negative or restrictive in
terms of development. When compared to autocracy, since
democracy is more successful in managing social conflicts, ensuring
political stability and preventing social disasters such as famine, it
contributes more to economic development. Democracy also
facilitates delegation of authority, provides a stable investment
environment and accelerates mobilization of resources in accordance
with economic growth/development. Democracy leads to an increase
in human capital accumulation and increases the growth rate through
reducing income inequality. It can be said that democratic regimes
are the most appropriate ones in terms of increasing economic
performance and supporting economic development through their
strong institutional structures and the assurance they will ensure in
property rights.
Abstract: Non-crimp 3D orthogonal fabric composite is one of
the textile-based composite materials that are rapidly developing
light-weight engineering materials. The present paper focuses on
geometric and micromechanical modeling of non-crimp 3D
orthogonal carbon fabric and composites reinforced with it for
aerospace applications. In this research meso-finite element (FE)
modeling employs for stress analysis in different load conditions.
Since mechanical testing of expensive textile carbon composites with
specific application isn't affordable, simulation composite in a virtual
environment is a helpful way to investigate its mechanical properties
in different conditions.
Abstract: Background: Worldwide, at least 2.8 million people
die each year as a result of being overweight or obese, and 35.8
million (2.3%) of global DALYs are caused by overweight or
obesity. Obesity is acknowledged as one of the burning public
health problems reducing life expectancy and quality of life. The
body composition analysis of the university population is essential
in assessing the nutritional status, as well as the risk of developing
diseases associated with abnormal body fat content so as to make
nutritional recommendations. Objectives: The main aim was to
determine the prevalence of obesity and overweight in University
students using Anthropometric analysis and BIA methods. Material
and Methods: In this cross-sectional study, 283 university students
participated. The body composition analysis was undertaken by
using mainly: i) Anthropometric Measurement: Height, Weight,
BMI, waist circumference, hip circumference and skin fold
thickness, ii) Bio-electrical impedance was used for analysis of
body fat mass, fat percent and visceral fat which was measured by
Tanita SC-330P Professional Body Composition Analyzer. The
data so collected were compiled in MS Excel and analyzed for
males and females using SPSS 16. Results and Discussion: The
mean age of the male (n= 153) studied subjects was 25.37 ±2.39
years and females (n=130) was 22.53 ±2.31. The data of BIA
revealed very high mean fat per cent of the female subjects i.e.
30.3±6.5 per cent whereas mean fat per cent of the male subjects
was 15.60±6.02 per cent indicating a normal body fat range. The
findings showed high visceral fat of both males (12.92±3.02) and
females (16.86±4.98). BMI, BF% and WHR were higher among
females, and BMI was higher among males. The most evident
correlation was verified between BF% and WHR for female
students (r=0.902; p
Abstract: A new steganographic method via the use of numeric
data on public websites with a self-authentication capability is
proposed. The proposed technique transforms a secret message into
partial shares by Shamir’s (k, n)-threshold secret sharing scheme with
n = k + 1. The generated k+1 partial shares then are embedded into the
numeric items to be disguised as part of the website’s numeric content,
yielding the stego numeric content. Afterward, a receiver links to the
website and extracts every k shares among the k+1 ones from the stego
numeric content to compute k+1 copies of the secret, and the
phenomenon of value consistency of the computed k+1 copies is taken
as an evidence to determine whether the extracted message is authentic
or not, attaining the goal of self-authentication of the extracted secret
message. Experimental results and discussions are provided to show
the feasibility and effectiveness of the proposed method.
Abstract: Family is a basic unit of the society and the main
source of human development. The initial aim of the family is
psychological and social support of its members and has special
developmental stages. Researches show the families who have less
cohesion, have more conflicts and maladjustments and the members
of such families are not able to communicate effectively. Family is a
system in which any inter communication is related to child rearing
patterns and can affect it. Even the child rearing styles in childhood
can determine the family communications in adulthood. Therefore,
the aim of the present research was to examine the relationship
between child-rearing styles including authoritative, authoritarian and
permissive with dimensions of family communication patterns
including the conversation and conformity. The research design was a
correlational and the population consisted of the psychology students
of Roudehen Islamic Azad University who were studying in
academic year 2013-2014. A sample of 324 students was selected
randomly from the population. The research tools were the Baumrind
Child-rearing Questionnaires and Family Communication
Patterns Inventory, The Revised Scale of Koerner and Fitzpatrick.
The result was as below: (a) there was a positive and significant
relationship between conversation orientation and authoritative style.
(b) There was no significant relationship between conversation
orientation and other child-rearing styles. (c) There was a negative
significant relationship between conformity orientation and
authoritative style. (d) There was a positive significant relationship
between conformity orientation with authoritarian and permissive
styles. (e) There was a significant relationship between 3 dimensions
of child-rearing and communication patterns.
Abstract: The US Consumer Price Indices (CPIs) measures
hundreds of items in the US economy. Many social programs
and government benefits index to the CPIs. The purpose of
this project is to modernize an existing process. This paper will
show the development of a small, visual, software product that
documents the Economic Price Adjustment (EPA) for longterm
contracts. The existing workbook does not provide the
flexibility to calculate EPAs where the base-month and the
option-month are different. Nor does the workbook provide
automated error checking. The small, visual, software product
provides the additional flexibility and error checking. This
paper presents the feedback to project.
Abstract: This paper introduces symbiotic organism search (SOS)
for solving capacitated vehicle routing problem (CVRP). SOS is a new
approach in metaheuristics fields and never been used to solve discrete
problems. A sophisticated decoding method to deal with a discrete
problem setting in CVRP is applied using the basic symbiotic
organism search (SOS) framework. The performance of the algorithm
was evaluated on a set of benchmark instances and compared results
with best known solution. The computational results show that the
proposed algorithm can produce good solution as a preliminary
testing. These results indicated that the proposed SOS can be applied
as an alternative to solve the capacitated vehicle routing problem.
Abstract: Al6061 alloy base matrix, reinforced with particles of
silicon carbide (10 wt %) and Graphite powder (1wt%), known as
hybrid composites have been fabricated by liquid metallurgy route
(stir casting technique) and optimized at different parameters like
applied load, sliding speed and sliding distance by taguchi method. A
plan of experiment generated through taguchi technique was used to
perform experiments based on L27 orthogonal array. The developed
ANOVA and regression equations are used to find the optimum
coefficient of friction and wear under the influence of applied load,
sliding speed and sliding distance. On the basis of “smaller the best”
the dry sliding wear resistance was analysed and finally confirmation
tests were carried out to verify the experimental results.
Abstract: This research paper presents highly optimized barrel
shifter at 22nm Hi K metal gate strained Si technology node. This
barrel shifter is having a unique combination of static and dynamic
body bias which gives lowest power delay product. This power delay
product is compared with the same circuit at same technology node
with static forward biasing at ‘supply/2’ and also with normal reverse
substrate biasing and still found to be the lowest. The power delay
product of this barrel sifter is .39362X10-17J and is lowered by
approximately 78% to reference proposed barrel shifter at 32nm bulk
CMOS technology. Power delay product of barrel shifter at 22nm Hi
K Metal gate technology with normal reverse substrate bias is
2.97186933X10-17J and can be compared with this design’s PDP of
.39362X10-17J. This design uses both static and dynamic substrate
biasing and also has approximately 96% lower power delay product
compared to only forward body biased at half of supply voltage. The
NMOS model used are predictive technology models of Arizona state
university and the simulations to be carried out using HSPICE
simulator.
Abstract: Mass media campaigns against obesity are often
designed to impact large audiences. This usually means that their
audience is defined based on general demographic characteristics like
age, gender, occupation etc., not taking into account psychographics
like behavior, motivations, wants, etc. Using psychographics, as the
base for the audience segmentation, is a common practice in case of
successful campaigns, as it allows developing more relevant
messages. It also serves a purpose of identifying key segments, those
that generate the best return on investment. For a health campaign,
that would be segments that have the best chance of being converted
into healthy lifestyle at the lowest cost. This paper presents the
limitations of the demographic targeting, based on the findings from
the reception study of IMSS (Mexican Social Security Institute) antiobesity
TV commercials and proposes mothers as the first level of
segmentation, in the process of identifying the key segment for these
campaigns.
Abstract: Purpose: The study aimed to assess the depressant or
antidepressant effects of several Nonsteroidal Anti-Inflammatory
Drugs (NSAIDs) in mice: the selective cyclooxygenase-2 (COX-2)
inhibitor meloxicam, and the non-selective COX-1 and COX-2
inhibitors lornoxicam, sodium metamizole, and ketorolac. The
current literature data regarding such effects of these agents are
scarce.
Materials and methods: The study was carried out on NMRI mice
weighing 20-35 g, kept in a standard laboratory environment. The
study was approved by the Ethics Committee of the University of
Medicine and Pharmacy „Carol Davila”, Bucharest. The study agents
were injected intraperitoneally, 10 mL/kg body weight (bw) 1 hour
before the assessment of the locomotor activity by cage testing (n=10
mice/ group) and 2 hours before the forced swimming tests (n=15).
The study agents were dissolved in normal saline (meloxicam,
sodium metamizole), ethanol 11.8% v/v in normal saline (ketorolac),
or water (lornoxicam), respectively. Negative and positive control
agents were also given (amitryptilline in the forced swimming test).
The cage floor used in the locomotor activity assessment was divided
into 20 equal 10 cm squares. The forced swimming test involved
partial immersion of the mice in cylinders (15/9cm height/diameter)
filled with water (10 cm depth at 28C), where they were left for 6
minutes. The cage endpoint used in the locomotor activity assessment
was the number of treaded squares. Four endpoints were used in the
forced swimming test (immobility latency for the entire 6 minutes,
and immobility, swimming, and climbing scores for the final 4
minutes of the swimming session), recorded by an observer that was
„blinded” to the experimental design. The statistical analysis used the
Levene test for variance homogeneity, ANOVA and post-hoc
analysis as appropriate, Tukey or Tamhane tests.
Results: No statistically significant increase or decrease in the
number of treaded squares was seen in the locomotor activity
assessment of any mice group. In the forced swimming test,
amitryptilline showed an antidepressant effect in each experiment, at
the 10 mg/kg bw dosage. Sodium metamizole was depressant at 100
mg/kg bw (increased the immobility score, p=0.049, Tamhane test),
but not in lower dosages as well (25 and 50 mg/kg bw). Ketorolac
showed an antidepressant effect at the intermediate dosage of 5
mg/kg bw, but not so in the dosages of 2.5 and 10 mg/kg bw,
respectively (increased the swimming score, p=0.012, Tamhane test).
Meloxicam and lornoxicam did not alter the forced swimming
endpoints at any dosage level.
Discussion: 1) Certain NSAIDs caused changes in the forced
swimming patterns without interfering with locomotion. 2) Sodium
metamizole showed a depressant effect, whereas ketorolac proved
antidepressant. Conclusion: NSAID-induced mood changes are not
class effects of these agents and apparently are independent of the
type of inhibited cyclooxygenase (COX-1 or COX-2).
Disclosure: This paper was co-financed from the European Social
Fund, through the Sectorial Operational Programme Human Resources Development 2007-2013, project number POSDRU /159
/1.5 /S /138907 "Excellence in scientific interdisciplinary research,
doctoral and postdoctoral, in the economic, social and medical fields
-EXCELIS", coordinator The Bucharest University of Economic
Studies.
Abstract: The aim of the current study was to develop and
validate a Response to Stressful Situations Scale (RSSS) for the
Portuguese population. This scale assesses the degree of stress
experienced in scenarios that can constitute positive, negative and
more neutral stressors, and also describes the physiological,
emotional and behavioral reactions to those events according to their
intensity. These scenarios include typical stressor scenarios relevant
to patients with schizophrenia, which are currently absent from most
scales, assessing specific risks that these stressors may bring on
subjects, which may prove useful in non-clinical and clinical
populations (i.e. Patients with mood or anxiety disorders,
schizophrenia). Results from Principal Components Analysis and
Confirmatory Factor Analysis of two adult samples from general
population allowed to confirm a three-factor model with good fit
indices: χ2 (144)= 370.211, p = 0.000; GFI = 0.928; CFI = 0.927; TLI =
0.914, RMSEA = 0.055, P(rmsea ≤0.005) = .096; PCFI = .781.
Further data analysis of the scale revealed that RSSS is an adequate
assessment tool of stress response in adults to be used in further
research and clinical settings, with good psychometric characteristics,
adequate divergent and convergent validity, good temporal stability
and high internal consistency.
Abstract: Advanced treatments such as forward osmosis (FO)
can be used to separate or reject nutrients from secondary treated
effluents. Forward osmosis uses the chemical potential across the
membrane, which is the osmotic pressure gradient, to induce water to
flow through the membrane from a feed solution (FS) into a draw
solution (DS). The performance of FO is affected by the membrane
characteristics, composition of the FS and DS, and operating
conditions. The aim of this study was to investigate the optimum
velocity and temperature for nutrient rejection and water flux
performance in FO treatments. MgCl2 was used as the DS in the FO
process. The results showed that higher cross flow velocities yielded
higher water fluxes. High rejection of nutrients was achieved by using
a moderate cross flow velocity at 0.25 m/s. Nutrient rejection was
insensitive to temperature variation, whereas water flux was
significantly impacted by it. A temperature of 25°C was found to be
good for nutrient rejection.