Abstract: In this article we address the problem of mobile robot formation control. Indeed, the most work, in this domain, have studied extensively classical control for keeping a formation of mobile robots. In this work, we design an FLC (Fuzzy logic Controller) controller for separation and bearing control (SBC). Indeed, the leader mobile robot is controlled to follow an arbitrary reference path, and the follower mobile robot use the FSBC (Fuzzy Separation and Bearing Control) to keep constant relative distance and constant angle to the leader robot. The efficiency and simplicity of this control law has been proven by simulation on different situation.
Abstract: The issue of classifying objects into one of predefined
groups when the measured variables are mixed with different types
of variables has been part of interest among statisticians in many
years. Some methods for dealing with such situation have been
introduced that include parametric, semi-parametric and nonparametric
approaches. This paper attempts to discuss on a problem
in classifying a data when the number of measured mixed variables is
larger than the size of the sample. A propose idea that integrates a
dimensionality reduction technique via principal component analysis
and a discriminant function based on the location model is discussed.
The study aims in offering practitioners another potential tool in a
classification problem that is possible to be considered when the
observed variables are mixed and too large.
Abstract: Calcium magnesium acetate (CMA) is environmentally
benign deicing chemicals that can replace sodium chloride that is
widely used on roads and highways at present for snow and ice control
to provide safe driving conditions during winter. The price of CMA
from petroleum-derived acetic acid is quite expensive. The bamboo
vinegar is the by-product from bamboo charcoal production. The
bamboo vinegar was used to prepare calcium acetate as raw materials,
and its deicing and corrosive performances were studied in this paper.
The results show that the freezing temperature of calcium acetate is
lower than that of sodium chloride when they have same molar
concentration, the deicing performance of calcium acetate is better
than that of sodium chloride when they have same moles, while the
deicing performance of sodium chloride is better than that of calcium
acetate. The corrosion of sodium chloride on iron-nail and steel-nail is
larger than that of calcium acetate whether they have same mass
concentration or same molar concentration, and the corrosion of
sodium chloride and calcium acetate on iron-nail is larger than that on
steel-nail, and calcium acetate almost hasn't corrosion on steel-nail.
Abstract: The tensile properties of Mg-3%Al nanocrystalline
alloys were investigated at different test environment. Bulk
nanocrystalline samples of these alloy was successfully prepared by
mechanical alloying (MA) followed by cold compaction, sintering,
and hot extrusion process. The crystal size of the consolidated milled
sample was calculated by X-Ray line profile analysis. The
deformation mechanism and microstructural characteristic at
different test condition was discussed extensively. At room
temperature, relatively lower value of activation volume (AV) and
higher value of strain rate sensitivity (SRS) suggests that new rate
controlling mechanism accommodating plastic flow in the present
nanocrystalline sample. The deformation behavior and the
microstructural character of the present samples were discussed in
details.
Abstract: The objectives of this research were to explore factors
influencing knowledge management process in the manufacturing
industry and develop a model to support knowledge management
processes. The studied factors were technology infrastructure, human
resource, knowledge sharing, and the culture of the organization. The
knowledge management processes included discovery, capture,
sharing, and application. Data were collected through questionnaires
and analyzed using multiple linear regression and multiple
correlation. The results found that technology infrastructure, human
resource, knowledge sharing, and culture of the organization
influenced the discovery and capture processes. However, knowledge
sharing had no influence in sharing and application processes. A
model to support knowledge management processes was developed,
which indicated that sharing knowledge needed further improvement
in the organization.
Abstract: Interpolated contour maps drawn for aluminum,
copper and molybdenum in downstream monitoring boreholes of
water dam in Miduk Copper Complex and the values of pH, redox
potential (Eh) and distance from water dam indicate different trends
of variation and behavior of these three elements in downward
groundwater resources. As these maps exhibit, aluminum is dominant
in the most alkaline (pH = 9-11) borehole (MB5) to water dam. The
highest concentration of molybdenum is found in the nearest
borehole (MB6) to water dam. Main concentration of copper is
observed in the most oxidized borehole (MB3 with Eh=293.2mV).
The spatial difference among sampling stations can be attributed to
the existence of faults and diaclases in the geologic structure of
Miduk region which causes the groundwater sampling sites to be
impressed by different contamination sources (toe seepage and upper
seepage water originated from different zones of tailings dump).
Abstract: This paper focuses on systematic analysis and
controller design of the two-inertia STABILIZATION system,
considering the angular motion on a base body. This approach is
essential to the stabilization system to aim at a target under three or six
degrees of freedom base motion. Four controllers, such as
conventional PDF(Pseudo-Derivative Feedback) controller with
motor speed feedback, PDF controller with load speed feedback,
modified PDF controller with motor-load speed feedback and
feedforward controller added to modified PDF controller, are
suggested to improve reference tracking and disturbance rejection
performance. Characteristics and performance of each controller are
analyzed and validated by simulation in the case of the modified PDF
controller with and without a feedforward controller.
Abstract: In the past, there were many bridge-s collapses due to
lack of bridge structural capacity information. Most of concrete
bridge health was relied on information from visual inspection, which
sometime was inadequate. This study was conducted in order to
investigate relationship between bridge structural condition and
bridge visual condition. This study was a part of a big project
conducted at Department of Highways of Thailand. In this study, 31
bridges including slab-type bridges, plank-girder bridges, prestressed
box-beam bridges, prestressed I-girder bridges and prestressed multibeam
bridges were selected for visual inspection and load test. It was
found a positive correlation between bridge appearance and bridge-s
load carrying capacity. However, statistical characteristic revealed
low correlation between them.
Abstract: There has been considerable growth in the issue of
food & beverage safety in Thailand. This is important because the
level of satisfaction in food & beverage safety has impacts on travel
decision made by foreign tourists. Therefore, this paper was aimed to
test if there is any significant gender effect in the level of satisfaction
of food & beverage safety made by foreign tourists in Thailand. In
addition, this paper utilized the Chi Square test of independent to test
if there was an association between gender and sickness because of
food and if there was an association between gender and the
perception of food safety standard. During January to June, 2012, a
total of 400 foreign tourist respondents, 200 male as well as 200
female foreign tourists, were interviewed at the departure lounge at
Suvarnabhumi airport, Thailand. The findings revealed the
astonishing result that there was no significant effect of gender. Also,
there was no significant difference in the association between gender
and being sick because of food as well as the association between
gender and the perception on the standard of food safety during their
trip in Thailand.
Abstract: Our goal is to effectively increase the number of boats in the river during a six month period. The main factors of determining the number of boats are duration and “select the priority trip". In the microcosmic simulation model, the best result is 4 to 24 nights with DSCF, and the number of boats is 812 with an increasing ratio of 9.0% related to the second best result. However, the number of boats is related to 31.6% less than the best one in 6 to 18 nights with FCFS. In the discrete duration model, we get from 6 to 18 nights, the numbers of boats have increased to 848 with an increase ratio of 29.7% than the best result in model I for the same time range. Moreover, from 4 to 24 nights, the numbers of boats have increase to 1194 with an increase ratio of 47.0% than the best result in model I for the same time range.
Abstract: Bio-electrical responses obtained from freshwater
sediments by employing microbial fuel cell (MFC) technology were
investigated in this experimental study. During the electricity
generation, organic matter in the sediment was microbially oxidized
under anaerobic conditions with an electrode serving as a terminal
electron acceptor. It was found that the sediment organic matter
(SOM) associated with electrochemically-active electrodes became
more humified, aromatic, and polydispersed, and had a higher average
molecular weight, together with the decrease in the quantity of SOM.
The alteration of characteristics of the SOM was analogous to that
commonly observed in the early stage of SOM diagenetic process (i.e.,
humification). These findings including an elevation of the sediment
redox potential present a possibility of the MFC technology as a new
soil/sediment remediation technique based on its potential benefits:
non-destructive electricity generation and bioremediation.
Abstract: Skin color can provide a useful and robust cue
for human-related image analysis, such as face detection,
pornographic image filtering, hand detection and tracking,
people retrieval in databases and Internet, etc. The major
problem of such kinds of skin color detection algorithms is
that it is time consuming and hence cannot be applied to a real
time system. To overcome this problem, we introduce a new
fast technique for skin detection which can be applied in a real
time system. In this technique, instead of testing each image
pixel to label it as skin or non-skin (as in classic techniques),
we skip a set of pixels. The reason of the skipping process is
the high probability that neighbors of the skin color pixels are
also skin pixels, especially in adult images and vise versa. The
proposed method can rapidly detect skin and non-skin color
pixels, which in turn dramatically reduce the CPU time
required for the protection process. Since many fast detection
techniques are based on image resizing, we apply our
proposed pixel skipping technique with image resizing to
obtain better results. The performance evaluation of the
proposed skipping and hybrid techniques in terms of the
measured CPU time is presented. Experimental results
demonstrate that the proposed methods achieve better result
than the relevant classic method.
Abstract: Although the field of parametric Pattern Recognition (PR) has been thoroughly studied for over five decades, the use of the Order Statistics (OS) of the distributions to achieve this has not been reported. The pioneering work on using OS for classification was presented in [1] for the Uniform distribution, where it was shown that optimal PR can be achieved in a counter-intuitive manner, diametrically opposed to the Bayesian paradigm, i.e., by comparing the testing sample to a few samples distant from the mean. This must be contrasted with the Bayesian paradigm in which, if we are allowed to compare the testing sample with only a single point in the feature space from each class, the optimal strategy would be to achieve this based on the (Mahalanobis) distance from the corresponding central points, for example, the means. In [2], we showed that the results could be extended for a few symmetric distributions within the exponential family. In this paper, we attempt to extend these results significantly by considering asymmetric distributions within the exponential family, for some of which even the closed form expressions of the cumulative distribution functions are not available. These distributions include the Rayleigh, Gamma and certain Beta distributions. As in [1] and [2], the new scheme, referred to as Classification by Moments of Order Statistics (CMOS), attains an accuracy very close to the optimal Bayes’ bound, as has been shown both theoretically and by rigorous experimental testing.
Abstract: The present study was carried out to evaluate the
nutritional value of sorghum flour during processing of injera
(unleavened thick bread). The proximate composition of sorghum
flour before and after fermentation and that of injera was determined.
Compared to the raw flour and fermented one, injera had low protein
(11.55%), ash (1.57%) and fat (2.40%) contents but high in fiber
content. Moreover, injera was found to have significantly (P ≤ 0.05)
higher energy (389.08 Kcal/100g) compared to raw and fermented
sorghum flour. Injera contained lower levels of anti-nutritional
factors (polyphenols, phytate and tannins) compared to raw and
fermented sorghum. Also it was found to be rich in Ca
(4.75mg/100g), Fe (3.95 mg/100g), and Cu (0.7 mg/100g) compared
to that of raw and fermented flour. Moreover, both the extractable
minerals and protein digestibility were high for injera due to low
amount of anti-nutrients. Injera was found to contain an appreciable
amount of amino acids except arginine and tyrosine.
Abstract: Synchronization between 0.1 Hz oscillations in heart rate and blood pressure is studied and its change during vertical tilt is evaluated in 37 myocardial infarction patients. Two groups of patients are identified with decreased and increased, respectively, synchronization of the studied oscillations as a response to a tilt test. It is shown that assessment of synchronization of 0.1 Hz oscillations as a response to vertical tilt can be used as a guideline for selecting optimal dose of beta-blocker treatment in post-myocardial infarction patients.
Abstract: The information on the Web increases tremendously.
A number of search engines have been developed for searching Web
information and retrieving relevant documents that satisfy the
inquirers needs. Search engines provide inquirers irrelevant
documents among search results, since the search is text-based rather
than semantic-based. Information retrieval research area has
presented a number of approaches and methodologies such as
profiling, feedback, query modification, human-computer interaction,
etc for improving search results. Moreover, information retrieval has
employed artificial intelligence techniques and strategies such as
machine learning heuristics, tuning mechanisms, user and system
vocabularies, logical theory, etc for capturing user's preferences and
using them for guiding the search based on the semantic analysis
rather than syntactic analysis. Although a valuable improvement has
been recorded on search results, the survey has shown that still
search engines users are not really satisfied with their search results.
Using ontologies for semantic-based searching is likely the key
solution. Adopting profiling approach and using ontology base
characteristics, this work proposes a strategy for finding the exact
meaning of the query terms in order to retrieve relevant information
according to user needs. The evaluation of conducted experiments
has shown the effectiveness of the suggested methodology and
conclusion is presented.
Abstract: The aim of this paper is to propose a dynamic integrated approach, based on modularity concept and on the business ecosystem approach, that exploit different eBusiness services for SMEs under an open business network platform. The adoption of this approach enables firms to collaborate locally for delivering the best product/service to the customers as well as globally by accessing international markets, interrelate directly with the customers, create relationships and collaborate with worldwide actors. The paper will be structured as following: We will start by offering an overview of the state of the art of eBusiness platforms among SME of food and tourism firms and then we discuss the main drawbacks that characterize them. The digital business ecosystem approach and the modularity concept will be described as the theoretical ground in which our proposed integrated model is rooted. Finally, the proposed model along with a discussion of the main value creation potentialities it might create for SMEs will be presented.
Abstract: Several researchers have proposed methods about
combination of Genetic Algorithm (GA) and Fuzzy Logic (the use of
GA to obtain fuzzy rules and application of fuzzy logic in
optimization of GA). In this paper, we suggest a new method in
which fuzzy decision making is used to improve the performance of
genetic algorithm. In the suggested method, we determine the alleles
that enhance the fitness of chromosomes and try to insert them to the
next generation.
In this algorithm we try to present an innovative vaccination in the
process of reproduction in genetic algorithm, with considering the
trade off between exploration and exploitation.
Abstract: The Constraints imposed by non-thermal
leptogenesis on the survival of the neutrino mass models describing
the presently available neutrino mass patterns, are studied
numerically. We consider the Majorana CP violating phases coming
from right-handed Majorana mass matrices to estimate the baryon
asymmetry of the universe, for different neutrino mass models
namely quasi-degenerate, inverted hierarchical and normal
hierarchical models, with tribimaximal mixings. Considering two
possible diagonal forms of Dirac neutrino mass matrix as either
charged lepton or up-quark mass matrix, the heavy right-handed
mass matrices are constructed from the light neutrino mass matrix.
Only the normal hierarchical model leads to the best predictions of
baryon asymmetry of the universe, consistent with observations in
non-thermal leptogenesis scenario.
Abstract: In a representative democracy political parties
promote vital competition on different policy issues and play
essential roles by offering ideological alternatives. They also give
channels for citizens- participation in government decision-making
processes and they are significant conduits and interpreters of
information about government. This paper attempts to examine how
opposition political parties and rebel fronts emerged in Ethiopia, and
examines their present conditions. In this paper, selected case studies
of political parties and rebel fronts are included to highlight the status
and the role of opposition groups in the country in the three
successive administrations: Haile Selassie (1930-1974), Derg (1974-
1991), and EPRDF (1991-Present).