Abstract: The purpose of this study is to find natural gait of
biped robot such as human being by analyzing the COG (Center Of
Gravity) trajectory of human being's gait. It is discovered that human
beings gait naturally maintain the stability and use the minimum
energy. This paper intends to find the natural gait pattern of biped
robot using the minimum energy as well as maintaining the stability by
analyzing the human's gait pattern that is measured from gait image on
the sagittal plane and COG trajectory on the frontal plane. It is not
possible to apply the torques of human's articulation to those of biped
robot's because they have different degrees of freedom. Nonetheless,
human and 5-link biped robots are similar in kinematics. For this, we
generate gait pattern of the 5-link biped robot by using the GA
algorithm of adaptation gait pattern which utilize the human's ZMP
(Zero Moment Point) and torque of all articulation that are measured
from human's gait pattern. The algorithm proposed creates biped
robot's fluent gait pattern as that of human being's and to minimize
energy consumption because the gait pattern of the 5-link biped robot
model is modeled after consideration about the torque of human's each
articulation on the sagittal plane and ZMP trajectory on the frontal
plane. This paper demonstrate that the algorithm proposed is superior
by evaluating 2 kinds of the 5-link biped robot applied to each gait
patterns generated both in the general way using inverse kinematics
and in the special way in which by considering visuality and
efficiency.
Abstract: One way for optimum loading of overdimensioning
conveyers is speed (capacity) decrement, with attention for
production capabilities and demands. At conveyers which drives with
three phase slip-ring induction motor, technically reasonable solution
for conveyer (driving motors) speed regulation is using constant
torque subsynchronous cascade with static semiconductor converter
and transformer for energy reversion to the power network. In the
paper is described mathematical model for parameter calculation of
two-motors 6 kV subsynchronous cascade. It is also demonstrated
that applying of this cascade gave several good properties, foremost
in electrical energy saving, also in improving of other energy
indexes, and finally that results in cost reduction of complete
electrical motor drive.
Abstract: IMCS is Integrated Monitoring and Control System for
thermal power plant. This system consists of mainly two parts; controllers and OIS (Operator Interface System). These two parts are
connected by Ethernet-based communication. The controller side of communication is managed by CNet module and OIS side is managed
by data server of OIS. CNet module sends the data of controller to data
server and receives commend data from data server. To minimizes or
balance the load of data server, this module buffers data created by controller at every cycle and send buffered data to data server on request of data server. For multiple data server, this module manages
the connection line with each data server and response for each request
from multiple data server. CNet module is included in each controller
of redundant system. When controller fail-over happens on redundant system, this module can provide data of controller to data sever
without loss. This paper presents three main features – separation of get task, usage of ring buffer and monitoring communication status –of CNet module to carry out these functions.
Abstract: Experiments were conducted to characterize fire
properties of wood exposed to the certain external heat flux and
under variety of wood moisture content. Six kinds of Indonesian
wood: keruing, sono, cemara, kamper, pinus, and mahoni were
exposed to radiant heat from a conical heater, result in appearance of
a stable flame on the wood surface caused by spontaneous ignition. A
thermocouple K-type was used to measure the wood surface
temperature. Temperature histories were recorded throughout each
experiment at 1 s intervals using a TC-08. Data of first ignition time
and temperature, end ignition time and temperature, and charring rate
have been successfully collected. It was found that the ignition
temperature and charring rate depend on moisture content of wood.
Abstract: Snoring is prevalent and is the most significant feature
of sleep-disordered breathing (SDB). Ignore the therapies of SDB will
lead to serious problems in health. Based on the research of
mechanisms, diagnosis, and treatments of snoring, oral appliances are
ensured in therapeutic effect and compliance, especially the
mandibular advancement devices (MADs). Market survey includes
commercial product reviews and patent analyses. Due to pay more
attention to the sleep medicine, the oral appliances are considered as a
standard treatment of snoring that promoted by American Academy of
Sleep Medicine (AASM). There are more and more adjustable MADs
developed since 1995. According to the patent analyses, there are
many drawbacks existed in the present design, such as uncomfortable,
high cost, bulky volume, and complex adjustment. In this study,
several new designs of the MAD are proposed.
Abstract: The present work presents a method of calculating the
ductility of rectangular sections of beams considering nonlinear
behavior of concrete and steel. This calculation procedure allows us
to trace the curvature of the section according to the bending
moment, and consequently deduce ductility. It also allowed us to
study the various parameters that affect the value of the ductility. A
comparison of the effect of maximum rates of tension steel, adopted
by the codes, ACI [1], EC8 [2] and RPA [3] on the value of the
ductility was made. It was concluded that the maximum rate of steels
permitted by the ACI [1] codes and RPA [3] are almost similar in
their effect on the ductility and too high. Therefore, the ductility
mobilized in case of an earthquake is low, the inverse of code EC8
[2]. Recommendations have been made in this direction.
Abstract: This paper presents the design and implements the prototype of an intelligent data processing framework in ubiquitous sensor networks. Much focus is put on how to handle the sensor data stream as well as the interoperability between the low-level sensor data and application clients. Our framework first addresses systematic middleware which mitigates the interaction between the application layer and low-level sensors, for the sake of analyzing a great volume of sensor data by filtering and integrating to create value-added context information. Then, an agent-based architecture is proposed for real-time data distribution to efficiently forward a specific event to the appropriate application registered in the directory service via the open interface. The prototype implementation demonstrates that our framework can host a sophisticated application on the ubiquitous sensor network and it can autonomously evolve to new middleware, taking advantages of promising technologies such as software agents, XML, cloud computing, and the like.
Abstract: Biomimicry has many potential benefits as many
technologies found in nature are superior to their man-made
counterparts. As technological device components approach the micro
and nanoscale, surface properties such as surface adhesion and friction
may need to be taken into account. Lowering surface adhesion by
manipulating chemistry alone might no longer be sufficient for such
components and thus physical manipulation may be required.
Adhesion reduction is only one of the many surface functions
displayed by micro/nano-structured cuticles of insects. Here, we
present a mini review of our understanding of insect cuticle structures
and the relationship between the structure dimensions and the
corresponding functional mechanisms. It may be possible to introduce
additional properties to material surfaces (indeed multi-functional
properties) based on the design of natural surfaces.
Abstract: Cognitive models allow predicting some aspects of utility
and usability of human machine interfaces (HMI), and simulating
the interaction with these interfaces. The action of predicting is based
on a task analysis, which investigates what a user is required to do
in terms of actions and cognitive processes to achieve a task. Task
analysis facilitates the understanding of the system-s functionalities.
Cognitive models are part of the analytical approaches, that do not
associate the users during the development process of the interface.
This article presents a study about the evaluation of a human
machine interaction with a contextual assistant-s interface using ACTR
and GOMS cognitive models. The present work shows how these
techniques may be applied in the evaluation of HMI, design and
research by emphasizing firstly the task analysis and secondly the
time execution of the task. In order to validate and support our
results, an experimental study of user performance is conducted at
the DOMUS laboratory, during the interaction with the contextual
assistant-s interface. The results of our models show that the GOMS
and ACT-R models give good and excellent predictions respectively
of users performance at the task level, as well as the object level.
Therefore, the simulated results are very close to the results obtained
in the experimental study.
Abstract: This paper presents the findings of an
experimental investigation to study the effect of alkali content
in geopolymer mortar specimens exposed to sulphuric acid.
Geopolymer mortar specimens were manufactured from Class F fly
ash by activation with a mixture of sodium hydroxide and sodium
silicate solution containing 5% to 8% Na2O. Durability of specimens
were assessed by immersing them in 10% sulphuric acid solution and
periodically monitoring surface deterioration and depth of
dealkalization, changes in weight and residual compressive strength
over a period of 24 weeks. Microstructural changes in the specimens
were studied with Scanning electron microscopy (SEM) and EDAX.
Alkali content in the activator solution significantly affects the
durability of fly ash based geopolymer mortars in sulphuric acid.
Specimens manufactured with higher alkali content performed better
than those manufactured with lower alkali content. After 24 weeks in
sulphuric acid, specimen with 8% alkali still recorded a residual
strength as high as 55%.
Abstract: This paper gives an overview of how an OWL
ontology has been created to represent template knowledge models
defined in CML that are provided by CommonKADS.
CommonKADS is a mature knowledge engineering methodology
which proposes the use of template knowledge model for knowledge
modelling. The aim of developing this ontology is to present the
template knowledge model in a knowledge representation language
that can be easily understood and shared in the knowledge
engineering community. Hence OWL is used as it has become a
standard for ontology and also it already has user friendly tools for
viewing and editing.
Abstract: This paper proposes a framework for product
development including hardware and software components. It
provides separation of hardware dependent software, modifications of
current product development process, and integration of software
modules with existing product configuration models and assembly
product structures. In order to decide the dependent software, the
framework considers product configuration modules and engineering
changes of associated software and hardware components. In order to
support efficient integration of the two different hardware and
software development, a modified product development process is
proposed. The process integrates the dependent software development
into product development through the interchanges of specific product
information. By using existing product data models in Product Data
Management (PDM), the framework represents software as modules
for product configurations and software parts for product structure.
The framework is applied to development of a robot system in order to
show its effectiveness.
Abstract: Soils are normally dried in either a convection oven or stove. Laboratory moisture content testing indicated that the typical drying durations for a convection oven were, 24 hours. The purpose of this study was to determine the accuracy and soil drying duration of both, moisture content and liquid limit using microwave radiation. The soils were tested with both, convection and microwave ovens. The convection oven was considered to produce the true values for both, natural moisture content and liquid limit of soils; it was, therefore, used as a basis for comparison for the results of the microwave ovens. The samples used in this study were obtained from different projects of Consulting Engineering Bureau of College of Engineering of Sulaimani University. These samples were collected from different locations and at the different depths and consist mostly of brown and light brown clay and silty clay. A total of 102 samples were prepared. 26 of them were tested for natural moisture determination, while the other 76 were used for liquid limits determination
Abstract: This study investigates the electrical performance of a
planar solid oxide fuel cell unit with cross-flow configuration when the fuel utilization gets higher and the fuel inlet flow are non-uniform.
A software package in this study solves two-dimensional,
simultaneous, partial differential equations of mass, energy, and
electro-chemistry, without considering stack direction variation. The
results show that the fuel utilization increases with a decrease in the molar flow rate, and the average current density decreases when the
molar flow rate drops. In addition, non-uniform Pattern A will induce more severe happening of non-reaction area in the corner of the fuel
exit and the air inlet. This non-reaction area deteriorates the average
current density and then deteriorates the electrical performance to –7%.
Abstract: This paper aims to develop a NOx emission model of
an acid gas incinerator using Nelder-Mead least squares support
vector regression (LS-SVR). Malaysia DOE is actively imposing the
Clean Air Regulation to mandate the installation of analytical
instrumentation known as Continuous Emission Monitoring System
(CEMS) to report emission level online to DOE . As a hardware
based analyzer, CEMS is expensive, maintenance intensive and often
unreliable. Therefore, software predictive technique is often
preferred and considered as a feasible alternative to replace the
CEMS for regulatory compliance. The LS-SVR model is built based
on the emissions from an acid gas incinerator that operates in a LNG
Complex. Simulated Annealing (SA) is first used to determine the
initial hyperparameters which are then further optimized based on the
performance of the model using Nelder-Mead simplex algorithm.
The LS-SVR model is shown to outperform a benchmark model
based on backpropagation neural networks (BPNN) in both training
and testing data.
Abstract: Clustering is a very well known technique in data mining. One of the most widely used clustering techniques is the k-means algorithm. Solutions obtained from this technique are dependent on the initialization of cluster centers. In this article we propose a new algorithm to initialize the clusters. The proposed algorithm is based on finding a set of medians extracted from a dimension with maximum variance. The algorithm has been applied to different data sets and good results are obtained.
Abstract: A challenging problem in radar signal processing is to
achieve reliable target detection in the presence of interferences. In
this paper, we propose a novel algorithm for automatic censoring of
radar interfering targets in log-normal clutter. The proposed
algorithm, termed the forward automatic censored cell averaging
detector (F-ACCAD), consists of two steps: removing the corrupted
reference cells (censoring) and the actual detection. Both steps are
performed dynamically by using a suitable set of ranked cells to
estimate the unknown background level and set the adaptive
thresholds accordingly. The F-ACCAD algorithm does not require
any prior information about the clutter parameters nor does it require
the number of interfering targets. The effectiveness of the F-ACCAD
algorithm is assessed by computing, using Monte Carlo simulations,
the probability of censoring and the probability of detection in
different background environments.
Abstract: Lighting upgrades involve relatively lower costs which
allow the benefits to be spread more widely than is possible with any
other energy efficiency measure. In order to popularize the adoption of
CFL in Taiwan, the authority proposes to implement a new energy efficient lamp comparative label system. The current study was
accordingly undertaken to investigate the factors affecting the performance and the deviation of actual and labeled performance of
commercially available integrated CFLs. In this paper, standard test
methods to determine the electrical and photometric performances of
CFL were developed based on CIE 84-1989 and CIE 60901-1987,
then 55 selected CFLs from market were tested. The results show that
with higher color temperature of CFLs lower efficacy are achieved. It
was noticed that the most packaging of CFL often lack the information of Color Rendering Index. Also, there was no correlation between
price and performance of the CFLs was indicated in this work. The results of this paper might help consumers to make more informed
CFL-purchasing decisions.
Abstract: Atlantic herring (Clupea harengus) is an important
commercial fish and shows to be more and more demanded for
human consumption. Therefore, it is very important to find good
methods for monitoring the freshness of the fish in order to keep it in
the best quality for human consumption. In this study, the fish was
stored in ice up to 2 weeks. Quality changes during storage were
assessed by the Quality Index Method (QIM), quantitative
descriptive analysis (QDA) and Torry scheme, by texture
measurements: puncture tests and Texture Profile Analysis (TPA)
tests on texture analyzer TA.XT2i, and by electronic nose (e-nose)
measurements using FreshSense instrument. Storage time of herring
in ice could be estimated by QIM with ± 2 days using 5 herring per
lot. No correlation between instrumental texture parameters and
storage time or between sensory and instrumental texture variables
was found. E-nose measurements could be use to detect the onset of
spoilage.
Abstract: Querying a data source and routing data towards sink
becomes a serious challenge in static wireless sensor networks if sink
and/or data source are mobile. Many a times the event to be observed
either moves or spreads across wide area making maintenance of
continuous path between source and sink a challenge. Also, sink can
move while query is being issued or data is on its way towards sink.
In this paper, we extend our already proposed Grid Based Data
Dissemination (GBDD) scheme which is a virtual grid based
topology management scheme restricting impact of movement of
sink(s) and event(s) to some specific cells of a grid. This obviates the
need for frequent path modifications and hence maintains continuous
flow of data while minimizing the network energy consumptions.
Simulation experiments show significant improvements in network
energy savings and average packet delay for a packet to reach at sink.