Abstract: The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems, the stiffness of the internal parallel modules, representing 2 DOF joints in the serial robotic chains, is controlled by co-activation of opposing redundant actuator groups in the null-space of the module Jacobian, without influencing the actual robot position. The decoupled position/stiffness control allows the realization of variable joint stiffness according to different force-displacement relationships. The variable joint stiffness, as well as limited pneumatic muscle/bellows force ability, ensures internal system safety that is crucial for development of human-friendly robots intended for human-robot collaboration. The initial experiments with the system prototype demonstrate the capabilities of independently, simultaneously controlling both joint (Cartesian) motion and joint stiffness. The paper also presents the possible industrial applications of snake-like robots built using the new modules.
Abstract: Various methods of geofield parameters restoration (by algebraic polynoms; filters; rational fractions; interpolation splines; geostatistical methods – kriging; search methods of nearest points – inverse distance, minimum curvature, local – polynomial interpolation; neural networks) have been analyzed and some possible mistakes arising during geofield surface modeling have been presented.
Abstract: An important step in three-dimensional reconstruction
and computer vision is camera calibration, whose objective is to
estimate the intrinsic and extrinsic parameters of each camera. In this
paper, two linear methods based on the different planes are given. In
both methods, the general plane is used to replace the calibration
object with very good precision. In the first method, after controlling
the camera to undergo five times- translation movements and taking
pictures of the orthogonal planes, a set of linear constraints of the
camera intrinsic parameters is then derived by means of homography
matrix. The second method is to get all camera parameters by taking
only one picture of a given radius circle. experiments on simulated
data and real images,indicate that our method is reasonable and is a
good supplement to camera calibration.
Abstract: This paper presents the results of a preventive maintenance application-based study and modeling of failure rates in breakers of electrical distribution systems. This is a critical issue in the reliability assessment of a system. In the analysis conducted in this paper, the impacts of failure rate variations caused by a preventive maintenance are examined. This is considered as a part of a Reliability Centered Maintenance (RCM) application program. A number of load point reliability indices is derived using the mathematical model of the failure rate, which is established using the observed data in a distribution system.
Abstract: Following the laser ablation studies leading to a
theory of nuclei confinement by a Debye layer mechanism, we
present here numerical evaluations for the known stable nuclei where
the Coulomb repulsion is included as a rather minor component
especially for lager nuclei. In this research paper the required
physical conditions for the formation and stability of nuclei
particularly endothermic nuclei with mass number greater than to
which is an open astrophysical question have been investigated.
Using the Debye layer mechanism, nuclear surface energy, Fermi
energy and coulomb repulsion energy it is possible to find conditions
under which the process of nucleation is permitted in early universe.
Our numerical calculations indicate that about 200 second after the
big bang at temperature of about 100 KeV and subrelativistic region
with nucleon density nearly equal to normal nuclear density namely,
10cm all endothermic and exothermic nuclei have been
formed.
Abstract: A method based on the power series solution is proposed to solve the natural frequency of flapping vibration for the rotating inclined Euler beam with constant angular velocity. The vibration of the rotating beam is measured from the position of the corresponding steady state axial deformation. In this paper the governing equations for linear vibration of a rotating Euler beam are derived by the d'Alembert principle, the virtual work principle and the consistent linearization of the fully geometrically nonlinear beam theory in a rotating coordinate system. The governing equation for flapping vibration of the rotating inclined Euler beam is linear ordinary differential equation with variable coefficients and is solved by a power series with four independent coefficients. Substituting the power series solution into the corresponding boundary conditions at two end nodes of the rotating beam, a set of homogeneous equations can be obtained. The natural frequencies may be determined by solving the homogeneous equations using the bisection method. Numerical examples are studied to investigate the effect of inclination angle on the natural frequency of flapping vibration for rotating inclined Euler beams with different angular velocity and slenderness ratio.
Abstract: This paper studies the application of a variety of
sawdust materials in the production of lightweight insulating bricks.
First, the mineralogical and chemical composition of clays was determined. Next, ceramic bricks were fabricated with different
quantities of materials (3–6 and 9 wt. % for sawdust, 65 wt. % for grey clay, 24–27 and 30 wt. % for yellow clay and 2 wt% of tuff).
These bricks were fired at 800 and 950 °C. The effect of adding this sawdust on the technological behaviour of the brick was assessed by
drying and firing shrinkage, water absorption, porosity, bulk density
and compressive strength. The results have shown that the optimum
sintering temperature is 950 °C. Below this temperature, at 950 °C,
increased open porosity was observed, which decreased the compressive strength of the bricks. Based on the results obtained, the
optimum amounts of waste were 9 wt. % sawdust of eucalyptus, 24 wt. % shaping moisture and 1.6 particle size diameter. These percentages produced bricks whose mechanical properties were
suitable for use as secondary raw materials in ceramic brick
production.
Abstract: This paper describes the project and development of a
very low-cost and small electronic prototype, especially designed for
monitoring and controlling existing home automation alarm systems
(intruder, smoke, gas, flood, etc.), via TCP/IP, with a typical web
browser. Its use will allow home owners to be immediately alerted
and aware when an alarm event occurs, and being also able to
interact with their home automation alarm system, disarming, arming
and watching event alerts, with a personal wireless Wi-Fi PDA or
smartphone logged on to a dedicated predefined web page, and using
also a PC or Laptop.
Abstract: Technology transfer of renewable energy technologies is very often unsuccessful in the developing world. Aside from challenges that have social, economic, financial, institutional and environmental dimensions, technology transfer has generally been misunderstood, and largely seen as mere delivery of high tech equipment from developed to developing countries or within the developing world from R&D institutions to society. Technology transfer entails much more, including, but not limited to: entire systems and their component parts, know-how, goods and services, equipment, and organisational and managerial procedures. Means to facilitate the successful transfer of energy technologies, including the sharing of lessons are subsequently extremely important for developing countries as they grapple with increasing energy needs to sustain adequate economic growth and development. Improving the success of technology transfer is an ongoing process as more projects are implemented, new problems are encountered and new lessons are learnt. Renewable energy is also critical to improve the quality of lives of the majority of people in developing countries. In rural areas energy is primarily traditional biomass. The consumption activities typically occur in an inefficient manner, thus working against the notion of sustainable development. This paper explores the implementation of technology transfer in the developing world (sub-Saharan Africa). The focus is necessarily on RETs since most rural energy initiatives are RETs-based. Additionally, it aims to highlight some lessons drawn from the cited RE projects and identifies notable differences where energy technology transfer was judged to be successful. This is done through a literature review based on a selection of documented case studies which are judged against the definition provided for technology transfer. This paper also puts forth research recommendations that might contribute to improved technology transfer in the developing world. Key findings of this paper include: Technology transfer cannot be complete without satisfying pre-conditions such as: affordability, maintenance (and associated plans), knowledge and skills transfer, appropriate know how, ownership and commitment, ability to adapt technology, sound business principles such as financial viability and sustainability, project management, relevance and many others. It is also shown that lessons are learnt in both successful and unsuccessful projects.
Abstract: Dried soy protein hydrolysate powder was added to
the burger in order to enhance the oxidative stability as well as
decreases the microbial spoilage. The soybean bioactive compounds
(soy protein hydrolysate) as antioxidant and antimicrobial were added
at level of 1, 2 and 3 %.Chemical analysis and physical properties
were affected by protein hydrolysate addition. The TBA values were
significantly affected (P < 0.05) by the storage period and the level of
soy protein hydrolysate. All the tested soybean protein hydrolysate
additives showed strong antioxidant properties. Samples of soybean
protein hydrolysate showed the lowest (P < 0.05) TBA values at each
time of storage.
The counts of all determined microbiological indicators were
significantly (P < 0.05) affected by the addition of the soybean
protein hydrolysate. Decreasing trends of different extent were also
observed in samples of the treatments for total viable counts,
Coliform, Staphylococcus aureus, yeast and molds. Storage period
was being significantly (P < 0.05) affected on microbial counts in all
samples Staphylococcus aureus were the most sensitive microbe
followed by Coliform group of the sample containing protein
hydrolysate, while molds and yeast count showed a decreasing trend
but not significant (P < 0.05) until the end of the storage period
compared with control sample. Sensory attributes were also
performed, added protein hydrolysate exhibits beany flavor which
was clear about samples of 3% protein hydrolysate.
Abstract: This study applied the Gaussian trajectory
transfer-coefficient model (GTx) to simulate the particulate matter
concentrations and the source apportionments at Nanzih Air Quality
Monitoring Station in southern Taiwan from November 2007 to
February 2008. The correlation coefficient between the observed and
the calculated daily PM10 concentrations is 0.5 and the absolute bias of
the PM10 concentrations is 24%. The simulated PM10 concentrations
matched well with the observed data. Although the emission rate of
PM10 was dominated by area sources (58%), the results of source
apportionments indicated that the primary sources for PM10 at Nanzih
Station were point sources (42%), area sources (20%) and then upwind
boundary concentration (14%). The obvious difference of PM10 source
apportionment between episode and non-episode days was upwind
boundary concentrations which contributed to 20% and 11% PM10
sources, respectively. The gas-particle conversion of secondary
aerosol and long range transport played crucial roles on the PM10
contribution to a receptor.
Abstract: The evolution of current modeling specifications gives rise to the problem of generating automated test cases from a variety of application tools. Past endeavours on behavioural testing of UML statecharts have not systematically leveraged the potential of existing graph theory for testing of objects. Therefore there exists a need for a simple, tool-independent, and effective method for automatic test generation. An architecture, codenamed ACUTE-J (Automated stateChart Unit Testing Engine for Java), for automating the unit test generation process is presented. A sequential approach for converting UML statechart diagrams to JUnit test classes is described, with the application of existing graph theory. Research byproducts such as a universal XML Schema and API for statechart-driven testing are also proposed. The result from a Java implementation of ACUTE-J is discussed in brief. The Chinese Postman algorithm is utilised as an illustration for a run-through of the ACUTE-J architecture.
Abstract: In order to study of hydropriming and halopriming on
germination and early growth stage of wheat (Triticum aestivum) an
experiment was carried out in laboratory of the Department of
Agronomy and Plant breeding, Shahrood University of Technology.
Seed treatments consisted of T1: control (untreated seeds), T2:
soaking in distilled water for 18 h (hydropriming). T3: soaking in -
1.2 MPa solution of CaSO4 for 36 h (halopriming). Germination and
early seedling growth were studied using distilled water (control) and
under osmotic potentials of -0.4, -0.8 and -1.2 MPa for NaCl and
polyethylene glycol (PEG 6000), respectively. Results showed that
Hydroprimed seeds achieved maximum germination seedling dry
weight, especially during the higher osmotic potentials. Minimum
germination was recorded at untreated seeds (control) followed by
osmopriming. Under high osmotic potentials, hydroprimed seeds had
higher GI (germination index) as compared to haloprimed or
untreated seeds. Interaction effect of seed treatment and osmotic
potential significantly affected the seedling vigour index (SVI).
Abstract: This research aims to study the preferable tourism and
the elements of choosing tourist destination from domestic tourist in
Bangkok and the nearby areas in Thailand.The data were collected by
using 1249 set of questionnaires, in mid-August 2012. The result
illustrates that religious destinations are the most preferable places
for the tourist. The average expense per travel is approximately 47
USD a time. Travellers travel based on the advertisement in the
television and internet and their decisions is based on the reputation
of the destinations.
The result on a place dimension demonstrates the neatness and
well managed location play a crucial role on tourist destination.
Gender, age, marriage status and their origins are affecting their
spending and travelling behaviour. The researcher reckon that
providing the area of arcade, selling the souvenir and promoting
tourism among a young professional group would be an important
key follow the income distribution policy, including managing the
destination to welcome the family group, which the result is to
identified as the highest spending.
Abstract: Restructured electricity markets may provide
opportunities for producers to exercise market power maintaining
prices in excess of competitive levels. In this paper an oligopolistic
market is presented that all Generation Companies (GenCos) bid in a
Cournot model. Genetic algorithm (GA) is applied to obtain
generation scheduling of each GenCo as well as hourly market
clearing prices (MCP). In order to consider network constraints a
multiperiod framework is presented to simulate market clearing
mechanism in which the behaviors of market participants are
modelled through piecewise block curves. A mixed integer linear
programming (MILP) is employed to solve the problem. Impacts of
market clearing process on participants- characteristic and final
market prices are presented. Consequently, a novel multi-objective
model is addressed for security constrained optimal bidding strategy
of GenCos. The capability of price-maker GenCos to alter MCP is
evaluated through introducing an effective-supply curve. In addition,
the impact of exercising market power on the variation of market
characteristics as well as GenCos scheduling is studied.
Abstract: A comparative evaluation of acute toxicity of
synthesized nano silvers using two different procedures (biological
and chemical reduction methods) and silver ions on bacteria
Vibrio fischeri was investigated. The bacterial light inhibition test as
a toxicological endpoint was used by applying of a homemade
luminometer. To compare the toxicity effects as a quantitative
parameter, a nominal effective concentrations (EC) of chemicals and
a susceptibility constant (Z-value) of bacteria, after 5 min and 30 min
exposure times, were calculated. After 5 and 30 min contact times,
the EC50 values of two silver nanoparticles and the EC20 values were
about similar. It demonstrates that toxicity of silvers was independent
of their procedure. The EC values of nanoparticles were larger than
those of the silver ions. The susceptibilities(Z- Values) of V.fischeri
(L/mg) to the silver ions were greater than those of the nano silvers.
According to the EC and Z values, the toxicity of silvers decreased in
the following order: Silver ions >> silver nanoparticles from
chemical reduction method ~ silver nanoparticles from biological
method.
Abstract: Real-time measurement of applied forces, like tension, compression, torsion, and bending moment, identifies the transferred energies being applied to the bottomhole assembly (BHA). These forces are highly detrimental to measurement/logging-while-drilling tools and downhole equipment. Real-time measurement of the dynamic downhole behavior, including weight, torque, bending on bit, and vibration, establishes a real-time feedback loop between the downhole drilling system and drilling team at the surface. This paper describes the numerical analysis of the strain data acquired by the measurement tool at different locations on the strain pockets. The strain values obtained by FEA for various loading conditions (tension, compression, torque, and bending moment) are compared against experimental results obtained from an identical experimental setup. Numerical analyses results agree with experimental data within 8% and, therefore, substantiate and validate the FEA model. This FEA model can be used to analyze the combined loading conditions that reflect the actual drilling environment.
Abstract: The stability test problem for homogeneous large-scale perturbed bilinear time-delay systems subjected to constrained inputs is considered in this paper. Both nonlinear uncertainties and interval systems are discussed. By utilizing the Lyapunove equation approach associated with linear algebraic techniques, several delay-independent criteria are presented to guarantee the robust stability of the overall systems. The main feature of the presented results is that although the Lyapunov stability theorem is used, they do not involve any Lyapunov equation which may be unsolvable. Furthermore, it is seen the proposed schemes can be applied to solve the stability analysis problem of large-scale time-delay systems.
Abstract: The objective of the research is to study and compare
response surface designs: Central composite designs (CCD), Box-
Behnken designs (BBD), Small composite designs (SCD), Hybrid
designs, and Uniform shell designs (USD) over sets of reduced models
when the design is in a spherical region for 3 and 4 design variables.
The two optimality criteria ( D and G ) are considered which larger
values imply a better design. The comparison of design optimality
criteria of the response surface designs across the full second order
model and sets of reduced models for 3 and 4 factors based on the
two criteria are presented.
Abstract: Routing in MANET is extremely challenging because
of MANETs dynamic features, its limited bandwidth, frequent
topology changes caused by node mobility and power energy
consumption. In order to efficiently transmit data to destinations, the
applicable routing algorithms must be implemented in mobile ad-hoc
networks. Thus we can increase the efficiency of the routing by
satisfying the Quality of Service (QoS) parameters by developing
routing algorithms for MANETs. The algorithms that are inspired by
the principles of natural biological evolution and distributed
collective behavior of social colonies have shown excellence in
dealing with complex optimization problems and are becoming more
popular. This paper presents a survey on few meta-heuristic
algorithms and naturally-inspired algorithms.