Abstract: This paper proposes a solution to the motion planning
and control problem of a point-mass robot which is required to move
safely to a designated target in a priori known workspace cluttered
with fixed elliptical obstacles of arbitrary position and sizes. A
tailored and unique algorithm for target convergence and obstacle
avoidance is proposed that will work for any number of fixed
obstacles. The control laws proposed in this paper also ensures that
the equilibrium point of the given system is asymptotically stable.
Computer simulations with the proposed technique and applications
to a planar (RP) manipulator will be presented.
Abstract: Application-Specific Instruction (ASI ) set Processors
(ASIP) have become an important design choice for embedded
systems due to runtime flexibility, which cannot be provided by
custom ASIC solutions. One major bottleneck in maximizing ASIP
performance is the limitation on the data bandwidth between the
General Purpose Register File (GPRF) and ASIs. This paper presents
the Implicit Registers (IRs) to provide the desirable data bandwidth.
An ASI Input/Output model is proposed to formulate the overheads of
the additional data transfer between the GPRF and IRs, therefore,
an IRs allocation algorithm is used to achieve the better performance
by minimizing the number of extra data transfer instructions. The
experiment results show an up to 3.33x speedup compared to the
results without using IRs.
Abstract: The induction hardening machines are utilized in
the industries which modify machine parts and tools needed to
achieve high ware resistance. This paper describes the model of
induction heating process design of inverter circuit and the results
of induction surface hardening of heating coil. In the design of
heating coil, the shape and the turn numbers of the coil are very
important design factors because they decide the overall operating
performance of induction heater including resonant frequency, Q
factor, efficiency and power factor. The performance will be tested
by experiments in some cases high frequency induction hardening
machine.
Abstract: This paper presents a new version of the SVM mixture algorithm initially proposed by Kwok for classification and regression problems. For both cases, a slight modification of the mixture model leads to a standard SVM training problem, to the existence of an exact solution and allows the direct use of well known decomposition and working set selection algorithms. Only the regression case is considered in this paper but classification has been addressed in a very similar way. This method has been successfully applied to engine pollutants emission modeling.
Abstract: In this paper, we investigate the solution of a two dimensional parabolic free boundary problem. The free boundary of this problem is modelled as a nonlinear integral equation (IE). For this integral equation, we propose an asymptotic solution as time is near to maturity and develop an integral iterative method. The computational results reveal that our asymptotic solution is very close to the numerical solution as time is near to maturity.
Abstract: Different types of Islamic debts have been
increasingly utilized as preferred means of debt funding by
Malaysian private firms in recent years. This study examines the
impact of Islamic debts announcement on private firms- stock
returns. Our sample includes forty five listed companies on Bursa
Malaysia involved in issuing of Islamic debts during 2005 to 2008.
The abnormal returns and cumulative average abnormal returns are
calculated and tested using standard event study methodology. The
results show that a significant, negative abnormal return occurs one
day before announcement date. This negative abnormal return is
representing market participant-s adverse attitude toward Islamic
private debt announcement during the research period.
Abstract: Bridge is an architectural symbol in Iran as Badgir
(wind catcher); fire temples and arch are vaults are such. Therefore, from the very old ages, construction of bridges in Iran has mixed with
architecture, social customs, alms and charity and holiness. Since long ago, from Mad, Achaemenid, Parthian and Sassanid times which construction of bridges got an inseparable relation with social dependency and architecture, based on those dependency bridges and
dams got holy names; as Dokhtar castle and Dokhtar bridges were constructed. This method continued even after Islam and whenever
Iranians got free from political fights and the immunity of roads were established the bridge construction did also prospered. In ancient
times bridge construction passes through it growing and completion process and in Sassanid time in some way it reached to the peak of art
and glory; as after Islam especially during 4th. century (Arab calendar) it put behind a period of glory and in Safavid time it
reached to an exceptional glory and magnificence by constructing
glorious bridges on Zayandeh Roud River in Isfahan.
Having a combined style and changeability into bridge barrier, some of these bridges develop into magnificent constructions. The
sustainable structures, mentioned above, are constructed for various
reasons as follows: connecting two sides of a river, storing water,
controlling floods, using water energy to operate water windmills, making lanes of streams for farms- use, and building recreational
places for people, etc. These studies carried in bridges reveals the fact
that in construction and designing mentioned above, lots of
technological factors have been taken into consideration such as
exceeding floods in the rives, hydraulic and hydrology of the rivers and bridges, geology, foundation, structure, construction material, and adopting appropriate executing methods, all of which are being analyzed in this article.
Abstract: Tracing and locating the geographical location of users (Geolocation) is used extensively in todays Internet. Whenever we, e.g., request a page from google we are - unless there was a specific configuration made - automatically forwarded to the page with the relevant language and amongst others, dependent on our location identified, specific commercials are presented. Especially within the area of Network Security, Geolocation has a significant impact. Because of the way the Internet works, attacks can be executed from almost everywhere. Therefore, for an attribution, knowledge of the origination of an attack - and thus Geolocation - is mandatory in order to be able to trace back an attacker. In addition, Geolocation can also be used very successfully to increase the security of a network during operation (i.e. before an intrusion actually has taken place). Similar to greylisting in emails, Geolocation allows to (i) correlate attacks detected with new connections and (ii) as a consequence to classify traffic a priori as more suspicious (thus particularly allowing to inspect this traffic in more detail). Although numerous techniques for Geolocation are existing, each strategy is subject to certain restrictions. Following the ideas of Endo et al., this publication tries to overcome these shortcomings with a combined solution of different methods to allow improved and optimized Geolocation. Thus, we present our architecture for improved Geolocation, by designing a new algorithm, which combines several Geolocation techniques to increase the accuracy.
Abstract: This paper presents implementation of attitude controller for a small UAV using field programmable gate array (FPGA). Due to the small size constrain a miniature more compact and computationally extensive; autopilot platform is needed for such systems. More over UAV autopilot has to deal with extremely adverse situations in the shortest possible time, while accomplishing its mission. FPGAs in the recent past have rendered themselves as fast, parallel, real time, processing devices in a compact size. This work utilizes this fact and implements different attitude controllers for a small UAV in FPGA, using its parallel processing capabilities. Attitude controller is designed in MATLAB/Simulink environment. The discrete version of this controller is implemented using pipelining followed by retiming, to reduce the critical path and thereby clock period of the controller datapath. Pipelined, retimed, parallel PID controller implementation is done using rapidprototyping and testing efficient development tool of “system generator", which has been developed by Xilinx for FPGA implementation. The improved timing performance enables the controller to react abruptly to any changes made to the attitudes of UAV.
Abstract: The effect of gamma irradiation on micro-hardness of polymer blends of poly (ethyl methacrylate)(PEMA) and poly (ethylene oxide) (PEO) has been investigated to detect the radiation induced crosslinking. The blend system comprises a noncrystallizable polymer, PEMA and a crystallizable polymer, PEO. On irradiation, the overall hardness of the blend specimens for different dose levels infers occurrence of a crosslinking process. The radiation-induced crosslinking was greater for blends having lower concentration of PEO. However, increase in radiation dose causes softening of blend system due to radiation induced scissioning of the chains
Abstract: In the present article, nonlinear vibration analysis of
single layer graphene sheets is presented and the effect of small
length scale is investigated. Using the Hamilton's principle, the three
coupled nonlinear equations of motion are obtained based on the von
Karman geometrical model and Eringen theory of nonlocal
continuum. The solutions of Free nonlinear vibration, based on a one
term mode shape, are found for both simply supported and clamped
graphene sheets. A complete analysis of graphene sheets with
movable as well as immovable in-plane conditions is also carried out.
The results obtained herein are compared with those available in the
literature for classical isotropic rectangular plates and excellent
agreement is seen. Also, the nonlinear effects are presented as
functions of geometric properties and small scale parameter.
Abstract: Automatic currency note recognition invariably
depends on the currency note characteristics of a particular country
and the extraction of features directly affects the recognition ability.
Sri Lanka has not been involved in any kind of research or
implementation of this kind. The proposed system “SLCRec" comes
up with a solution focusing on minimizing false rejection of notes.
Sri Lankan currency notes undergo severe changes in image quality
in usage. Hence a special linear transformation function is adapted to
wipe out noise patterns from backgrounds without affecting the
notes- characteristic images and re-appear images of interest. The
transformation maps the original gray scale range into a smaller
range of 0 to 125. Applying Edge detection after the transformation
provided better robustness for noise and fair representation of edges
for new and old damaged notes. A three layer back propagation
neural network is presented with the number of edges detected in row
order of the notes and classification is accepted in four classes of
interest which are 100, 500, 1000 and 2000 rupee notes. The
experiments showed good classification results and proved that the
proposed methodology has the capability of separating classes
properly in varying image conditions.
Abstract: The utilisation of Industrial Building System (IBS) in construction industry will lead to a safe site condition since minimum numbers of workers are required to be on-site, timely material delivery, systematic component storage, reduction of construction material and waste. These matters are being promoted in the Construction Industry Master Plan (CIMP 2006-2015). However, the enabling factors of IBS that will foster a safer working environment are indefinite; on that basis a research has been conducted. The purpose of this paper is to discuss and identify the relevant factors towards safety improvement for IBS. A quantitative research by way of questionnaire surveys have been conducted to 314 construction companies. The target group was Grade 5 to Grade 7 contractors registered with Construction Industry Development Board (CIDB) which specialise in IBS. The findings disclosed seven factors linked to the safety improvement of IBS construction site in Malaysia. The factors were historical, economic, psychological, technical, procedural, organisational and the environmental factors. From the findings, a psychological factor ranked as the highest and most crucial factor contributing to safer IBS construction site. The psychological factor included the self-awareness and influences from workmates behaviour. Followed by organisational factors, where project management style will encourage the safety efforts. From the procedural factors, it was also found that training was one of the significant factors to improve safety culture of IBS construction site. Another important finding that formed as a part of the environmental factor was storage of IBS components, in which proper planning of the layout would able to contribute to a safer site condition. To conclude, in order to improve safety of IBS construction site, a welltrained and skilled workers are required for IBS projects, thus proper training is permissible and should be emphasised.
Abstract: Eight difference schemes and five limiters are applied to numerical computation of Riemann problem. The resolution of discontinuities of each scheme produced is compared. Numerical dissipation and its estimation are discussed. The result shows that the numerical dissipation of each scheme is vital to improve scheme-s accuracy and stability. MUSCL methodology is an effective approach to increase computational efficiency and resolution. Limiter should be selected appropriately by balancing compressive and diffusive performance.
Abstract: Reliable secure multicast communication in mobile
adhoc networks is challenging due to its inherent characteristics of
infrastructure-less architecture with lack of central authority, high
packet loss rates and limited resources such as bandwidth, time and
power. Many emerging commercial and military applications require
secure multicast communication in adhoc environments. Hence key
management is the fundamental challenge in achieving reliable
secure communication using multicast key distribution for mobile
adhoc networks. Thus in designing a reliable multicast key
distribution scheme, reliability and congestion control over
throughput are essential components. This paper proposes and
evaluates the performance of an enhanced optimized multicast cluster
tree algorithm with destination sequenced distance vector routing
protocol to provide reliable multicast key distribution. Simulation
results in NS2 accurately predict the performance of proposed
scheme in terms of key delivery ratio and packet loss rate under
varying network conditions. This proposed scheme achieves
reliability, while exhibiting low packet loss rate with high key
delivery ratio compared with the existing scheme.
Abstract: Design for cost (DFC) is a method that reduces life
cycle cost (LCC) from the angle of designers. Multiple domain
features mapping (MDFM) methodology was given in DFC. Using
MDFM, we can use design features to estimate the LCC. From the
angle of DFC, the design features of family cars were obtained, such
as all dimensions, engine power and emission volume. At the
conceptual design stage, cars- LCC were estimated using back
propagation (BP) artificial neural networks (ANN) method and
case-based reasoning (CBR). Hamming space was used to measure the
similarity among cases in CBR method. Levenberg-Marquardt (LM)
algorithm and genetic algorithm (GA) were used in ANN. The
differences of LCC estimation model between CBR and artificial
neural networks (ANN) were provided. ANN and CBR separately
each method has its shortcomings. By combining ANN and CBR
improved results accuracy was obtained. Firstly, using ANN selected
some design features that affect LCC. Then using LCC estimation
results of ANN could raise the accuracy of LCC estimation in CBR
method. Thirdly, using ANN estimate LCC errors and correct errors in
CBR-s estimation results if the accuracy is not enough accurate.
Finally, economically family cars and sport utility vehicle (SUV) was
given as LCC estimation cases using this hybrid approach combining
ANN and CBR.
Abstract: This study deals with the experimental investigation
and theoretical modeling of Semi crystalline polymeric materials with
a rubbery amorphous phase (HDPE) subjected to a uniaxial cyclic
tests with various maximum strain levels, even at large deformation.
Each cycle is loaded in tension up to certain maximum strain and
then unloaded down to zero stress with N number of cycles. This
work is focuses on the measure of the volume strain due to the
phenomena of damage during this kind of tests. On the basis of
thermodynamics of relaxation processes, a constitutive model for
large strain deformation has been developed, taking into account the
damage effect, to predict the complex elasto-viscoelastic-viscoplastic
behavior of material. A direct comparison between the model
predictions and the experimental data show that the model accurately
captures the material response. The model is also capable of
predicting the influence damage causing volume variation.
Abstract: Today-s Wi Fi generation utilize the latest technology in their daily lives. Instructors at National University, the second largest non profit private institution of higher learning in California, are incorporating these new tools to modify their Online class formats to better accommodate these new skills in their distance education delivery modes. The University provides accelerated learning in a one-course per month format both Onsite and Online. Since there has been such a significant increase in Online classes over the past three years, and it is expected to grow even more over the over the next five years, Instructors cannot afford to maintain the status quo and not take advantage of these new options. It is at the discretion of the instructors which accessory they use and how comfortable and familiar they are with the technology. This paper explores the effects and summarizes students- comments of some of these new technological options which have been recently provided in order to make students- online learning experience more exciting and meaningful.
Abstract: Neonatal lupus erythematous (NLE) is a rare disease marked by clinical characteristic and specific maternal autoantibody. Many cutaneous, cardiac, liver, and hematological manifestations could happen with affect of one organ or multiple. In this case, both babies were premature, low birth weight (LBW), small for gestational age (SGA) and born through caesarean section from a systemic lupus erythematous (SLE) mother. In the first case, we found a baby girl with dyspnea and grunting. Chest X ray showed respiratory distress syndrome (RDS) great I and echocardiography showed small atrial septal defect (ASD) and ventricular septal defect (VSD). She also developed anemia, thrombocytopenia, elevated C-reactive protein, hypoalbuminemia, increasing coagulation factors, hyperbilirubinemia, and positive blood culture of Klebsiella pneumonia. Anti-Ro/SSA and Anti-nRNP/sm were positive. Intravenous fluid, antibiotic, transfusion of blood, thrombocyte concentrate, and fresh frozen plasma were given. The second baby, male presented with necrotic tissue on the left ear and skin rashes, erythematous macula, athropic scarring, hyperpigmentation on all of his body with various size and facial haemorrhage. He also suffered from thrombocytopenia, mild elevated transaminase enzyme, hyperbilirubinemia, anti-Ro/SSA was positive. Intravenous fluid, methyprednisolone, intravenous immunoglobulin (IVIG), blood, and thrombocyte concentrate transfution were given. Two cases of neonatal lupus erythematous had been presented. Diagnosis based on clinical presentation and maternal auto antibody on neonate. Organ involvement in NLE can occur as single or multiple manifestations.
Abstract: A new topology of unified power quality conditioner
(UPQC) is proposed for different power quality (PQ) improvement in
a three-phase four-wire (3P-4W) distribution system. For neutral
current mitigation, a star-hexagon transformer is connected in shunt
near the load along with three-leg voltage source inverters (VSIs)
based UPQC. For the mitigation of source neutral current, the uses of
passive elements are advantageous over the active compensation due
to ruggedness and less complexity of control. In addition to this, by
connecting a star-hexagon transformer for neutral current mitigation
the over all rating of the UPQC is reduced. The performance of the
proposed topology of 3P-4W UPQC is evaluated for power-factor
correction, load balancing, neutral current mitigation and mitigation
of voltage and currents harmonics. A simple control algorithm based
on Unit Vector Template (UVT) technique is used as a control
strategy of UPQC for mitigation of different PQ problems. In this
control scheme, the current/voltage control is applied over the
fundamental supply currents/voltages instead of fast changing APFs
currents/voltages, thereby reducing the computational delay.
Moreover, no extra control is required for neutral source current
compensation; hence the numbers of current sensors are reduced. The
performance of the proposed topology of UPQC is analyzed through
simulations results using MATLAB software with its Simulink and
Power System Block set toolboxes.