Abstract: In this paper we propose a discrete tracking control of
nonholonomic mobile robots with two degrees of freedom. The
electromechanical model of a mobile robot moving on a horizontal
surface without slipping, with two rear wheels controlled by two
independent DC electric, and one front roal wheel is considered. We
present backstepping design based on the Euler approximate discretetime
model of a continuous-time plant. Theoretical considerations are
verified by numerical simulation.
Abstract: Using the first-principles full-potential linearized
augmented plane wave plus local orbital (FP-LAPW+lo) method
based on density functional theory (DFT), we have investigated the
electronic structure and magnetism of full Heusler alloys Co2ZrGe
and Co2NbB. These compounds are predicted to be half-metallic
ferromagnets (HMFs) with a total magnetic moment of 2.000 B per
formula unit, well consistent with the Slater-Pauling rule.
Calculations show that both the alloys have an indirect band gaps, in
the minority-spin channel of density of states (DOS), with values of
0.58 eV and 0.47 eV for Co2ZrGe and Co2NbB, respectively.
Analysis of the DOS and magnetic moments indicates that their
magnetism is mainly related to the d-d hybridization between the Co
and Zr (or Nb) atoms. The half-metallicity is found to be relatively
robust against volume changes. In addition, an atom inside molecule
AIM formalism and an electron localization function ELF were also
adopted to study the bonding properties of these compounds, building
a bridge between their electronic and bonding behavior.
As they have a good crystallographic compatibility with the lattice of
semiconductors used industrially and negative calculated cohesive
energies with considerable absolute values these two alloys could be
promising magnetic materials in the spintronic field.
Abstract: An innovative concept called “Flexy-Energy” is developing at 2iE. This concept aims to produce electricity at lower cost by smartly mix different available energy sources in accordance to the load profile of the region. With a higher solar irradiation and due to the fact that Diesel generator are massively used in sub-Saharan rural areas, PV/Diesel hybrid systems could be a good application of this concept and a good solution to electrify this region, provided they are reliable, cost effective and economically attractive to investors. Presentation of the developed approach is the aims of this paper. The PV/Diesel hybrid system designed consists to produce electricity and/or heat from a coupling between Diesel Diesel generators and PV panels without batteries storage, while ensuring the substitution of gasoil by bio-fuels available in the area where the system will be installed. The optimal design of this system is based on his technical performances; the Life Cycle Cost (LCC) and Levelized Cost of Energy are developed and use as economic criteria. The Net Present Value (NPV), the internal rate of return (IRR) and the discounted payback (DPB) are also evaluated according to dual electricity pricing (in sunny and unsunny hours). The PV/Diesel hybrid system obtained is compared to the standalone Diesel Diesel generators. The approach carried out in this paper has been applied to Siby village in Mali (Latitude 12 ° 23'N 8 ° 20'W) with 295 kWh as daily demand.This approach provides optimal physical characteristics (size of the components, number of component) and dynamical characteristics in real time (number of Diesel generator on, their load rate, fuel specific consumptions, and PV penetration rate) of the system. The system obtained is slightly cost effective; but could be improved with optimized tariffing strategies.
Abstract: Corrosion of concrete sewer pipes induced by sulfuric
acid is an acknowledged problem and a ticking time-bomb to sewer
operators. Whilst the chemical reaction of the corrosion process is
well-understood, the indirect roles of other parameters in the
corrosion process which are found in sewer environment are not
highly reflected on. This paper reports on a field studies undertaken
in Austria and United Kingdom, where the parameters of
temperature, pH, H2S and CO2 were monitored over a period of time.
The study establishes that (i) effluent temperature and pH have
similar daily pattern and peak times, when examined in minutes
scale; (ii) H2S and CO2 have an identical hourly pattern; (iii) H2S
instant or shifted relation to effluent temperature is governed by the
root mean square value of CO2.
Abstract: This paper examines the effect of the volatility of oil
prices on food price in South Africa using monthly data covering the
period 2002:01 to 2014:09. Food price is measured by the South
African consumer price index for food while oil price is proxied by
the Brent crude oil. The study employs the GARCH-in-mean VAR
model, which allows the investigation of the effect of a negative and
positive shock in oil price volatility on food price. The model also
allows the oil price uncertainty to be measured as the conditional
standard deviation of a one-step-ahead forecast error of the change in
oil price. The results show that oil price uncertainty has a positive
and significant effect on food price in South Africa. The responses of
food price to a positive and negative oil price shocks is asymmetric.
Abstract: Real bronchial tree is very complicated piping system.
Analysis of flow and pressure losses in this system is very difficult.
Due to the complex geometry and the very small size in the lower
generations is examination by CFD possible only in the central part
of bronchial tree. For specify the pressure losses of lower generations
is necessary to provide a mathematical equation. Determination of
mathematical formulas for calculation of pressure losses in the real
lungs is time consuming and inefficient process due to its complexity
and diversity. For these calculations is necessary to slightly simplify
the geometry of lungs (same cross-section over the length of
individual generation) or use one of the idealized models of lungs
(Horsfield, Weibel). The article compares the values of pressure
losses obtained from CFD simulation of air flow in the central part of
the real bronchial tree with the values calculated in a slightly
simplified real lungs by using a mathematical relationship derived
from the Bernoulli and continuity equations. The aim of the article is
to analyse the accuracy of the analytical method and its possibility of
use for the calculation of pressure losses in lower generations, which
is difficult to solve by numerical method due to the small geometry.
Abstract: The main goal of this article is to describe the online
flood monitoring and prediction system Floreon+ primarily developed
for the Moravian-Silesian region in the Czech Republic and the basic
process it uses for running automatic rainfall-runoff and
hydrodynamic simulations along with their calibration and
uncertainty modeling. It takes a long time to execute such process
sequentially, which is not acceptable in the online scenario, so the use
of a high performance computing environment is proposed for all
parts of the process to shorten their duration. Finally, a case study on
the Ostravice River catchment is presented that shows actual
durations and their gain from the parallel implementation.
Abstract: Generating random numbers are mainly used to create
secret keys or random sequences. It can be carried out by various
techniques. In this paper we present a very simple and efficient
pseudo random number generator (PRNG) based on chaotic maps
and S-Box tables. This technique adopted two main operations one to
generate chaotic values using two logistic maps and the second to
transform them into binary words using random S-Box tables.
The simulation analysis indicates that our PRNG possessing
excellent statistical and cryptographic properties.
Abstract: We have been grouping and developing various kinds
of practical, promising sensing applied systems concerning
agricultural advancement and technical tradition (guidance). These
include advanced devices to secure real-time data related to worker
motion, and we analyze by methods of various advanced statistics and
human dynamics (e.g. primary component analysis, Ward system
based cluster analysis, and mapping). What is more, we have been
considering worker daily health and safety issues. Targeted fields are
mainly common farms, meadows, and gardens. After then, we
observed and discussed time-line style, changing data. And, we made
some suggestions. The entire plan makes it possible to improve both
the aforementioned applied systems and farms.
Abstract: This paper shortly describes various types of biomass
and a growing number of facilities utilizing the biomass in the Czech
Republic. The considerable part of this paper deals with energy
parameters of the most frequently used types of biomass and results
of their gasification testing. Sixteen most used "Czech" woody plants
and grasses were selected; raw, element and biochemical analyses
were performed and basic calorimetric values, ash composition, and
ash characteristic temperatures were identified. Later, each biofuel
was tested in a fluidized bed gasifier. The essential part of this paper
provides results of the gasification of selected biomass types.
Operating conditions are described in detail with a focus on
individual fuels properties. Gas composition and impurities content
are also identified. In terms of operating conditions and gas quality,
the essential difference occurred mainly between woody plants and
grasses. The woody plants were evaluated as more suitable fuels for
fluidized bed gasifiers. Testing results significantly help with a
decision-making process regarding suitability of energy plants for
growing and with a selection of optimal biomass-treatment
technology.
Abstract: Modeling and forecasting dynamics of rainfall
occurrences constitute one of the major topics, which have been
largely treated by statisticians, hydrologists, climatologists and many
other groups of scientists. In the same issue, we propose, in the
present paper, a new hybrid method, which combines Extreme
Values and fractal theories. We illustrate the use of our methodology
for transformed Emberger Index series, constructed basing on data
recorded in Oujda (Morocco).
The index is treated at first by Peaks Over Threshold (POT)
approach, to identify excess observations over an optimal threshold u.
In the second step, we consider the resulting excess as a fractal object
included in one dimensional space of time. We identify fractal
dimension by the box counting. We discuss the prospect descriptions
of rainfall data sets under Generalized Pareto Distribution, assured by
Extreme Values Theory (EVT). We show that, despite of the
appropriateness of return periods given by POT approach, the
introduction of fractal dimension provides accurate interpretation
results, which can ameliorate apprehension of rainfall occurrences.
Abstract: The work allowed gaining knowledge about redox and
speciation changes of As, Cr and Sb ionic forms in Klodnica River
water. This kind of studies never has been conducted in this region of
Poland. In study optimized and validated previously HPLC-ICP-MS
methods for determination of As, Sb and Cr was used. Separation
step was done using high-performance liquid chromatograph
equipped with ion-exchange column followed by ICP-MS
spectrometer detector. Preliminary studies included determination of
the total concentration of As, Sb and Cr, pH, Eh, temperature and
conductivity of the water samples. The study was conducted monthly
from March to August 2014, at six points on the Klodnica River. The
results indicate that exceeded at acceptable concentration of total Cr
and Sb was observed in Klodnica River and we should qualify
Klodnica River waters below the second purity class. In Klodnica
River waters dominates oxidized antimony and arsenic forms, as well
as the two forms of chromium Cr(VI) and Cr(III). Studies have also
shown the methyl derivative of arsenic's presence.
Abstract: Soil quality monitoring is a science-based soil
management tool that assesses soil ecosystem health.
A soil monitoring program in Auckland, New Zealand’s largest
city extends from 1995 to the present. The objective of this study was
to firstly determine changes in soil parameters (basic soil properties
and heavy metals) that were assessed from rural land in 1995-2000
and repeated in 2008-2012. The second objective was to determine
differences in soil parameters across various land uses including
native bush, rural (horticulture, pasture and plantation forestry) and
urban land uses using soil data collected in more recent years (2009-
2013).
Across rural land, mean concentrations of Olsen P had
significantly increased in the second sampling period and was
identified as the indicator of most concern, followed by soil
macroporosity, particularly for horticultural and pastoral land. Mean
concentrations of Cd were also greatest for pastoral and horticultural
land and a positive correlation existed between these two parameters,
which highlights the importance of analysing basic soil parameters in
conjunction with heavy metals. In contrast, mean concentrations of
As, Cr, Pb, Ni and Zn were greatest for urban sites. Native bush sites
had the lowest concentrations of heavy metals and were used to
calculate a ‘pollution index’ (PI). The mean PI was classified as high
(PI > 3) for Cd and Ni and moderate for Pb, Zn, Cr, Cu, As and Hg,
indicating high levels of heavy metal pollution across both rural and
urban soils. From a land use perspective, the mean ‘integrated
pollution index’ was highest for urban sites at 2.9 followed by
pasture, horticulture and plantation forests at 2.7, 2.6 and 0.9,
respectively.
It is recommended that soil sampling continues over time because
a longer spanning record will allow further identification of where
soil problems exist and where resources need to be targeted in the
future. Findings from this study will also inform policy and science
direction in regional councils.
Abstract: Silica was extracted from agriculture waste rice husk
ash (RHA) and was used as the silica source for synthesis of
RMCM-48 and RSBA-16. An alkali fusion process was utilized to
separate silicate supernatant and the sediment effectively. The
CTAB/Si and F127/Si molar ratio was employed to control the
structure properties of the obtained RMCM-48 and RSBA-16
materials. The N2 adsorption-desorption results showed the
micro-mesoporous RSBA-16 possessed high specific surface areas
(662-1001 m2/g). All the obtained RSBA-16 materials were applied as
the adsorbents for acetone adsorption. And the breakthrough tests
clearly revealed that the RSBA-16(0.004) materials could achieve the
highest acetone adsorption capacity of 181 mg/g under 1000 ppmv
acetone vapor concentration at 25oC, which was also superior to
ZSM-5 (71mg/g) and MCM-41 (157mg/g) under same test conditions.
This can help to reduce the solid waste and the high adsorption
performance of the obtained materials could consider as potential
adsorbents for acetone adsorption.
Abstract: Morphological interaction of porcine cumulus-oocyte
complexes (pCOCs) was investigated on in vitro condition using
electron microscope (SEM and TEM). The totals of 1,923 oocytes
were round in shape, surrounded by Zona pellucida with layer of
cumulus cells ranging between 59.29-202.14 μm in size. They were
classified into intact-, multi-, partial cumulus cell layer oocyte, and
completely denuded oocyte, at the percentage composition of 22.80%
32.70%, 18.60%, and 25.90 % respectively. The pCOCs classified as
intact- and multi cumulus cell layer oocytes were further culturing at
37°C with 5% CO2, 95% air atmosphere and high humidity for 44 h
in M199 with Earle’s salts supplemented with 10% HTFCS, 2.2
mg/mL NaHCO3, 1 M Hepes, 0.25 mM pyruvate, 15 μg/mL porcine
follicle-stimulating hormone, 1 μg/mL LH, 1μg/mL estradiol with
ethanol, and 50 μg/mL gentamycin sulfate. On electron microscope
study, cumulus cells were found to stick their processes to secrete
substance from the sac-shape end into Zona pellucida of the oocyte
and also communicated with the neighboring cells through their
microvilli on the beginning of incubation period. It is believed that
the cumulus cells communicate with the oocyte by inserting the
microvilli through this gap and embedded in the oocyte cytoplasm
before secreting substance, through the sac-shape end of the
microvilli, to inhibit primary oocyte development at the prophase I.
Morphological changes of the complexes were observed after
culturing for 24-44 h. One hundred percentages of the cumulus layers
were expanded and cumulus cells were peeling off from the oocyte
surface. In addition, the round-shape cumulus cells transformed
themselves into either an elongate shape or a columnar shape, and no
communication between cumulus neighboring cells. After 44 h of
incubation time, diameter of oocytes surrounded by cumulus cells
was larger than 0 h incubation. The effect of hormones in culture
medium is exerted by their receptors present in porcine oocyte. It is
likely that all morphological changes of the complexes after hormone
treatment were to allow maturation of the oocyte. This study
demonstrated that the association of hormones in M199 could
promote porcine follicle activation in 44 h in vitro condition. This
culture system should be useful for studying the regulation of early
follicular growth and development, especially because these follicles represent a large source of oocytes that could be used in vitro for cell
technology.
Abstract: Teaching art by digital means is a big challenge for
the majority of teachers of art and design in primary schools, yet it
allows relationships between art, technology and creativity to be
clearly identified. The aim of this article is to present a modern way
of teaching art, using digital tools in the art classroom to improve
creative ability in pupils aged between nine and eleven years. It also
presents a conceptual model for creativity based on digital art. The
model could be useful for pupils interested in learning to draw by
using an e-drawing package, and for teachers who are interested in
teaching modern digital art in order to improve children’s creativity.
By illustrating the strategy of teaching art through technology, this
model may also help education providers to make suitable choices
about which technological approaches are most effective in
enhancing students’ creative ability, and which digital art tools can
benefit children by developing their technical skills. It is also
expected that use of this model will help to develop skills of social
interaction, which may in turn improve intellectual ability.
Abstract: The effect of transition metal doping on Pt/Al2O3
catalyst used in propane dehydrogenation reaction at 500°C was
studied. The preparation methods investigated were sequential
impregnation (Pt followed by the 2nd metal or the 2nd metal followed
by Pt) and co-impregnation. The metal contents of these catalysts
were fixed as the weight ratio of Pt per the 2nd metal of around 0.075.
These catalysts were characterized by N2-physisorption, TPR, COchemisorption
and NH3-TPD. It was found that the impregnated 2nd
metal had an effect upon reducibility of Pt due to its interaction with
transition metal-containing structure. This was in agreement with the
CO-chemisorption result that the presence of Pt metal, which is a
result from Pt species reduction, was decreased. The total acidity of
bimetallic catalysts is decreased but the strong acidity is slightly
increased. It was found that the stability of bimetallic catalysts
prepared by co-impregnation and sequential impregnation where the
2nd metal was impregnated before Pt were better than that of
monometallic catalyst (undoped Pt one) due to the forming of Pt sites
located on the transition metal-oxide modified surface. Among all
preparation methods, the sequential impregnation method- having Pt
impregnated before the 2nd metal gave the worst stability because this
catalyst lacked the modified Pt sites and some fraction of Pt sites was
covered by the 2nd metal.
Abstract: Beta-glucosidase, chitinase, leucine-aminopeptidase, acid phosphomonoesterase and acetate-esterase enzyme activities in
the soils under the impact of metallurgical industrial activity in Lori
marz (district) were investigated. The results of the study showed that
the activities of the investigated enzymes in the soils decreased with increasing distance from the Shamlugh copper mine, the Chochkan
tailings storage facility and the ore transportation road. Statistical
analysis revealed that the activities of the enzymes were positively
correlated (significant) to each other according to the observation
sites which indicated that enzyme activities were affected by the
same anthropogenic factor. The investigations showed that the soils
were polluted with heavy metals (Cu, Pb, As, Co, Ni, Zn) due to
copper mining activity in this territory. The results of Pearson
correlation analysis revealed a significant negative correlation
between heavy metal pollution degree (Nemerow integrated pollution
index) and soil enzyme activity. All of this indicated that copper
mining activity in this territory causing the heavy metal pollution of
the soils resulted in the inhabitation of the activities of the enzymes
which are considered as biological catalysts to decompose organic
materials and facilitate the cycling of nutrients.
Abstract: Robotics brings together several very different
engineering areas and skills. There are various types of robot such as
humanoid robot, mobile robots, remotely operated vehicles, modern
autonomous robots etc. This survey paper advocates the operation of a
robotic car (remotely operated vehicle) that is controlled by a mobile
phone (communicate on a large scale over a large distance even from
different cities). The person makes a call to the mobile phone placed
in the car. In the case of a call, if any one of the button is pressed, a
tone equivalent to the button pressed is heard at the other end of the
call. This tone is known as DTMF (Dual Tone Multiple Frequency).
The car recognizes this DTMF tone with the help of the phone stacked
in the car. The received tone is processed by the Arduino
microcontroller. The microcontroller is programmed to acquire a
decision for any given input and outputs its decision to motor drivers
in order to drive the motors in the forward direction or backward
direction or left or right direction. The mobile phone that makes a call
to cell phone stacked in the car act as a remote.
Abstract: In the present work, the dielectric properties of
Epoxy/MWCNT-muscovite HYBRID and MIXED composites based
on a ratio 30:70 were studied. The multi-wall carbon nanotubes
(MWCNT) were prepared using two methods: (a) MWCNTmuscovite
hybrids were synthesised by chemical vapour deposition
(CVD) and (b) physically mixing muscovite with MWCNT. The
effects of different preparation of the composites and filler loading
were evaluated. It was revealed that the dielectric constants of
HYBRID epoxy composites are slightly higher than MIXED epoxy
composites. It was also indicated that the dielectric constant increased
by increasing the MWCNT filler loading.