Abstract: This paper addresses the issue of the autonomous
mobile robot (AMR) navigation task based on the hybrid control
modes. The novel hybrid control mode, based on multi-sensors
information by using the fuzzy approach, has been presented in this
research. The system operates in real time, is robust, enables the robot
to operate with imprecise knowledge, and takes into account the
physical limitations of the environment in which the robot moves,
obtaining satisfactory responses for a large number of different
situations. An experiment is simulated and carried out with a pioneer
mobile robot. From the experimental results, the effectiveness and
usefulness of the proposed AMR obstacle avoidance and navigation
scheme are confirmed. The experimental results show the feasibility,
and the control system has improved the navigation accuracy. The
implementation of the controller is robust, has a low execution time,
and allows an easy design and tuning of the fuzzy knowledge base.
Abstract: Electroencephalogram (EEG) is a noninvasive
technique that registers signals originating from the firing of neurons
in the brain. The Emotiv EEG Neuroheadset is a consumer product
comprised of 14 EEG channels and was used to record the reactions
of the neurons within the brain to two forms of stimuli in 10
participants. These stimuli consisted of auditory and visual formats
that provided directions of ‘right’ or ‘left.’ Participants were
instructed to raise their right or left arm in accordance with the
instruction given. A scenario in OpenViBE was generated to both
stimulate the participants while recording their data. In OpenViBE,
the Graz Motor BCI Stimulator algorithm was configured to govern
the duration and number of visual stimuli. Utilizing EEGLAB under
the cross platform MATLAB®, the electrodes most stimulated during
the study were defined. Data outputs from EEGLAB were analyzed
using IBM SPSS Statistics® Version 20. This aided in determining
the electrodes to use in the development of a brain-machine interface
(BMI) using real-time EEG signals from the Emotiv EEG
Neuroheadset. Signal processing and feature extraction were
accomplished via the Simulink® signal processing toolbox. An
Arduino™ Duemilanove microcontroller was used to link the Emotiv
EEG Neuroheadset and the right and left Mecha TE™ Hands.
Abstract: In this paper, reliable consensus of multi-agent systems
with sampled-data is investigated. By using a suitable
Lyapunov-Krasovskii functional and some techniques such as
Wirtinger Inequality, Schur Complement and Kronecker Product, the
results of such system are obtained by solving a set of Linear Matrix
Inequalities (LMIs). One numerical example is included to show the
effectiveness of the proposed criteria.
Abstract: In the paper, information on economic development
trends in developed countries are analyzed. The current status of
information society and economy of the country is reviewed and
some recommendations are given for future development.
The problems of Information Society and establishment of its
innovative economy are studied. In this turn, development trends
information economy in developed countries are analyzed.
Abstract: This paper presents two techniques, local feature
extraction using image spectrum and low frequency spectrum
modelling using GMM to capture the underlying statistical
information to improve the performance of face recognition
system. Local spectrum features are extracted using overlap sub
block window that are mapped on the face image. For each of this
block, spatial domain is transformed to frequency domain using
DFT. A low frequency coefficient is preserved by discarding high
frequency coefficients by applying rectangular mask on the
spectrum of the facial image. Low frequency information is non-
Gaussian in the feature space and by using combination of several
Gaussian functions that has different statistical properties, the best
feature representation can be modelled using probability density
function. The recognition process is performed using maximum
likelihood value computed using pre-calculated GMM components.
The method is tested using FERET datasets and is able to achieved
92% recognition rates.
Abstract: Pedagogy has always been open to other disciplines
that reflect about the educational process (philosophy, sociology,
psychology, anthropology, technology, etc.). Its interdisciplinary
openness puts education, as the subject of pedagogy within a broader
context of the community, enabling the knowledge of other
disciplines to contribute to a better understanding of the fundamental
pedagogical notion of education. The purpose of pedagogy as a
science serves humans, strives towards humans, must be for humans,
and this is its ultimate goal. Humans are essentially dependent on
education, which is also considered as a category of humans’ being,
because through education an entire world develops in humans.
Anthropological assumptions of humans as "deficient beings" see the
solution in education, but they also indicate a wealth of shortcomings,
because they provide an opportunity for enrichment and formation of
culture, living and the self. In that context, this paper illustrates the
determination of pedagogy through an anthropological conception of
humans and the phenomenon of education. It presents a review of
anthropological ideas about education, by providing an analysis of
relevant literature dealing with the anthropological notion of humans,
which provides fruitful conditions for a pedagogical reconsideration
of education.
Abstract: Presently, it is necessary to ensure the sustainable
development of passenger and freight transport. Increasing
performance of road freight has had a negative impact to environment
and society. It is therefore necessary to increase the competitiveness
of intermodal transport, which is more environmentally friendly. The
study describes the effectiveness of logistical centers realization for
companies and society and research how the partial internalization of
external costs reflected in the efficient use of these centers and
increase the competitiveness of intermodal transport to road freight.
In our research, we use the method of comparative analysis and
market research to describe the advantages of logistic centers for their
users as well as for society as a whole. Method normal costing is used
for calculation infrastructure and total costs, method of conversion
costing for determine the external costs. We modelled total society
costs for road freight transport and inter modal transport chain (we
assumed that most of the traffic is carried by rail) with different
loading schemes for condition in the Slovak Republic. Our research
has shown that higher utilization of inter modal transport chain do
good not only for society, but for companies providing freight
services too. Increase in use of inter modal transport chain can bring
many benefits to society that do not bring direct immediate financial
return. They often bring the multiplier effects, such as greater use of
environmentally friendly transport mode and reduce the total society
costs.
Abstract: This paper describes the problem of building secure
computational services for encrypted information in the Cloud
Computing without decrypting the encrypted data; therefore, it meets
the yearning of computational encryption algorithmic aspiration
model that could enhance the security of big data for privacy,
confidentiality, availability of the users. The cryptographic model
applied for the computational process of the encrypted data is the
Fully Homomorphic Encryption Scheme. We contribute a theoretical
presentations in a high-level computational processes that are based
on number theory and algebra that can easily be integrated and
leveraged in the Cloud computing with detail theoretic mathematical
concepts to the fully homomorphic encryption models. This
contribution enhances the full implementation of big data analytics
based cryptographic security algorithm.
Abstract: The traditional Turkish houses becoming unusable are
a result of the deterioration of the balanced interaction between users
and house (human and house) continuing during the history.
Especially depending upon the change in social structure, the houses
becoming neglected do not meet the desires of the users and do not
have the meaning but the shelter are becoming unusable and are
being destroyed.
A conservation policy should be developed and renovations should
be made in order to pass the traditional houses carrying the quality of
a cultural and historical document presenting the social structure, the
lifestyle and the traditions of its own age to the next generations and
to keep them alive.
Abstract: Co metal supported on SiO2 and Al2O3 catalysts with
a metal loading varied from 30 of 70 wt.% were evaluated for
decomposition of methane to COx free hydrogen and carbon
nanomaterials. The catalytic runs were carried out from 550-800oC
under atmospheric pressure using fixed bed vertical flow reactor. The
fresh and spent catalysts were characterized by BET surface area
analyzer, XRD, SEM, TEM and TG analysis. The data showed that
50% Co/Al2O3 catalyst exhibited remarkable higher activity at 800oC
with respect to H2 production compared to rest of the catalysts.
However, the catalytic activity and durability was greatly declined at
higher temperature. The main reason for the catalytic inhibition of Co
containing SiO2 catalysts is the higher reduction temperature of
Co2SiO4. TEM images illustrate that the carbon materials with
various morphologies, carbon nanofibers (CNFs), helical-shaped
CNFs and branched CNFs depending on the catalyst composition and
reaction temperature were obtained.
Abstract: Lipases constitute one of the most important groups of
industrial enzymes that catalyze the hydrolysis of triacylglycerol to
glycerol and fatty acids. Muscarinic antagonist relieves smooth
muscle spasm of the gastrointestinal tract and effect on the
cardiovascular system. In this research the effect of a muscarinic
antagonist on the lipase activity of Pseudomonas aeruginosa was
studied. Lineweaver–Burk plot showed that the drug inhibited the
enzyme by competitive inhibition. The IC50 value (0.16 mM) and Ki
(0.03 mM) of the drug revealed the drug bound to enzyme with high
affinity. Determination of enzyme activity in various pH and
temperature showed that the maximum activity of lipase was at pH 8
and 60oC both in presence and absence of the drug.
Abstract: In this study, several crossplots of the P-impedance
with the lithology logs (gamma ray, neutron porosity, deep resistivity,
water saturation and Vp/Vs curves) were made in three available
wells, which were drilled in central part of the Blue Nile basin in
depths varies from 1460m to 1600m. These crossplots were
successful to discriminate between sand and shale when using PImpedance
values, and between the wet sand and the pay sand when
using both P-impedance and Vp/Vs together. Also some impedance
sections were converted to porosity sections using linear formula to
characterize the reservoir in terms of porosity. The used crossplots
were created on log resolution, while the seismic resolution can
identify only the reservoir, unless a 3D seismic angle stacks were
available; then it would be easier to identify the pay sand with great
confidence; through high resolution seismic inversion and
geostatistical approach when using P-impedance and Vp/Vs volumes.
Abstract: The objective of this study was to evaluate the
physical and chemical characteristics of Serra da Estrela cheese and
compare these results with those of the sensory analysis. For the
study were taken six samples of Serra da Estrela cheese produced
with 6 different ecotypes of thistle in a dairy situated in Penalva do
Castelo. The chemical properties evaluated were moisture content,
protein, fat, ash, chloride and pH; the physical properties studied
were color and texture; and finally a sensory evaluation was
undertaken. The results showed moisture varying in the range 40-
48%, protein in the range 15-20%, fat between 41-45%, ash between
3.9-5.0% and chlorides varying from 1.2 to 3.0%. The pH varied
from 4.8 to 5.4. The textural properties revealed that the crust
hardness is relatively low (maximum 7.3 N), although greater than
flesh firmness (maximum 1.7 N), and also that these cheeses are in
fact soft paste type, with measurable stickiness and intense
adhesiveness. The color analysis showed that the crust is relatively
light (L* over 50), and with a predominant yellow coloration (b*
around 20 or over) although with a slight greenish tone (a* negative).
The results of the sensory analysis did not show great variability for
most of the attributes measured, although some differences were
found in attributes such as crust thickness, crust uniformity, and
creamy flesh.
Abstract: Flours of wheat, chestnut, acorn and lupin were
evaluated in relation to phenolic compounds, antioxidant activity, and
oxalate content. At the chemical level the results show some
variability between samples by type of flour, and the sample of
chestnut flour presented the higher value of oxalate (0.00348
mg/100g) when compared to the other samples in the study.
Considering the content of phenolic compounds, the sample that
stood out was the acorn flour, having a high value of 0.812 g
AGE/100 g. All the samples presented intermediate content of
antioxidant activity and the sample that showed a slightly higher
value was the wheat flour with a value of 0.746 mM TRE/g sample.
Abstract: Emissions of atmospheric pollutants from ships and
harbour activities are a growing concern at international level given
their potential impacts on air quality and climate. These close-to-land
emissions have potential impact on local communities in terms of air
quality and health. Recent studies show that the impact of maritime
traffic to atmospheric particulate matter concentrations in several
coastal urban areas is comparable with the impact of road traffic of a
medium size town. However, several different approaches have been
used for these estimates making difficult a direct comparison of
results. In this work, an integrated approach based on emission
inventories and dedicated measurement campaigns has been applied
to give a comparable estimate of the impact of maritime traffic to
PM2.5 and particle number concentrations in three major harbours of
the Adriatic/Ionian Seas. The influences of local meteorology and of
the logistic layout of the harbours are discussed.
Abstract: This article deals with geographical conditions in
terrain and their effect on the movement of vehicles, their effect on
speed and safety of movement of people and vehicles. Finding of the
optimal routes outside the communication is studied in the Army
environment, but it occur in civilian as well, primarily in crisis
situation, or by the provision of assistance when natural disasters
such as floods, fires, storms etc., have happened. These movements
require the optimization of routes when effects of geographical
factors should be included. The most important factor is the surface
of a terrain. It is based on several geographical factors as are slopes,
soil conditions, micro-relief, a type of surface and meteorological
conditions. Their mutual impact has been given by coefficient of
deceleration. This coefficient can be used for the commander`s
decision. New approaches and methods of terrain testing,
mathematical computing, mathematical statistics or cartometric
investigation are necessary parts of this evaluation.
Abstract: Epidermal Growth Factor (EGF, Mw=6,045) has been
reported to have high efficiency of wound repair and anti-wrinkle
effect. However, the half-life of EGF in the body is too short to exert
the biological activity effectively when applied in free form. Growth
Factors can be stabilized by immobilization with carbohydrates from
thermal and proteolytic degradation. Low molecular weight chitosan
(LMCS) and its derivate prepared by hydrogen peroxide has high
solubility. LM6A6DC was successfully prepared as a reactive
carbohydrate for the stabilization of EGF by the reactions of LMCS
with alkalization, tosylation, azidation and reduction. The structure of
LM6A6DC was confirmed by FT-IR, 1H NMR and elementary
analysis. For enhancing the stability of free EGF, EGF was attached
with LM6A6DC by using water-soluble carbodiimide.
EGF-LM6A6DC conjugates did not show any cytotoxicity on the
Normal Human Dermal Fibroblast (NHDF) 3T3 proliferation at least
under 100 μg/ml. In the result, it was considered that LM6A6DC is
suitable to immobilize of growth factor.
Abstract: Natural hydrocarbon seepage has helped petroleum
exploration as a direct indicator of gas and/or oil subsurface
accumulations. Surface macro-seeps are generally an indication of a
fault in an active Petroleum Seepage System belonging to a Total
Petroleum System. This paper describes a case study in which
multiple analytical techniques were used to identify and characterize
trace petroleum-related hydrocarbons and other volatile organic
compounds in groundwater samples collected from Sousse aquifer
(Central Tunisia). The analytical techniques used for analyses of
water samples included gas chromatography-mass spectrometry (GCMS),
capillary GC with flame-ionization detection, Compound
Specific Isotope Analysis, Rock Eval Pyrolysis. The objective of the
study was to confirm the presence of gasoline and other petroleum
products or other volatile organic pollutants in those samples in order
to assess the respective implication of each of the potentially
responsible parties to the contamination of the aquifer. In addition,
the degree of contamination at different depths in the aquifer was also
of interest. The oil and gas seeps have been investigated using
biomarker and stable carbon isotope analyses to perform oil-oil and
oil-source rock correlations. The seepage gases are characterized by
high CH4 content, very low δ13CCH4 values (-71,9 ‰) and high
C1/C1–5 ratios (0.95–1.0), light deuterium–hydrogen isotope ratios (-
198 ‰) and light δ13CC2 and δ13CCO2 values (-23,8‰ and-23,8‰
respectively) indicating a thermogenic origin with the contribution of
the biogenic gas. An organic geochemistry study was carried out on
the more ten oil seep samples. This study includes light hydrocarbon
and biomarkers analyses (hopanes, steranes, n-alkanes, acyclic
isoprenoids, and aromatic steroids) using GC and GC-MS. The
studied samples show at least two distinct families, suggesting two
different types of crude oil origins: the first oil seeps appears to be
highly mature, showing evidence of chemical and/or biological
degradation and was derived from a clay-rich source rock deposited
in suboxic conditions. It has been sourced mainly by the lower
Fahdene (Albian) source rocks. The second oil seeps was derived
from a carbonate-rich source rock deposited in anoxic conditions,
well correlated with the Bahloul (Cenomanian-Turonian) source rock.
Abstract: The paper deals with behaviour of the segment 50+ in
the financial market in the Czech Republic. This segment could be
said as the strong market power and it can be a crucial business
potential for financial business units. The main defined objective of
this paper is analysis of the customers´ behaviour of the segment 50-
60 years in the financial market in the Czech Republic and proposal
making of the suitable marketing approach to satisfy their demands in
the area of product, price, distribution and marketing communication
policy. This paper is based on data from one part of primary
marketing research. Paper determinates the basic problem areas as
well as definition of financial services marketing, defining the
primary research problem, hypothesis and primary research
methodology. Finally suitable marketing approach to selected sub
segment at age of 50-60 years is proposed according to marketing
research findings.
Abstract: This paper examines international marketing in
business practice of Czech exporting small and medium-sized
enterprises (SMEs) with regard to the strategic perspectives.
Research was focused on Czech exporting SMEs from Moravian-
Silesia region and their behavior on international markets. For
purpose of collecting data, a questionnaire was given to 262 SMEs
involved in international business. Statistics utilized in this research
included frequency, mean, percentage, and chi-square test. Data were
analyzed by Statistical Package for the Social Sciences software. The
research analysis disclosed that there is certain space for
improvement in strategic marketing especially in a marketing
research, perception of cultural and social differences, product
adaptation and usage of marketing communication tools.