Abstract: The main objective of this project is to build an
autonomous microcontroller-based mobile robot for a local robot
soccer competition. The black competition field is equipped with
white lines to serve as the guidance path for competing robots. Two
prototypes of soccer robot embedded with the Basic Stamp II
microcontroller have been developed. Two servo motors are used as
the drive train for the first prototype whereas the second prototype
uses two DC motors as its drive train. To sense the lines, lightdependent
resistors (LDRs) supply the analog inputs for the
microcontroller. The performances of both prototypes are evaluated.
The DC motor-driven robot has produced better trajectory control
over the one using servo motors and has brought the team into the
final round.
Abstract: The halophilic proteinase showed a maximal activity
at 50°C and pH 9~10, in 20% NaCl and was highly stabilized by
NaCl. It was able to hydrolyse natural actomyosin (NAM), collagen
and anchovy protein. For NAM hydrolysis, the myosin heavy chain
was completely digested by halophilic proteinase as evidenced by the
lowest band intensity remaining, but partially hydrolysed actin. The
SR5-3 proteinase was also capable hydrolyzing two major
components of collagen, β- and α-compounds, effectively. The
degree of hydrolysis (DH) of the halophilic proteinase and
commercial proteinases (Novozyme, Neutrase, chymotrypsin and
Flavourzyme) on the anchovy protein, were compared, and it was
found that the proteinase showed a greater degree of hydrolysis
towards anchovy protein than that from commercial proteinases. DH
of halophilic proteinase was sharply enhanced according to the
increase in the concentration of enzyme from 0.035 U to 0.105 U.
The results warranting that the acceleration of the production of fish
sauce with higher quality, may be achieved by adding of the
halophilic proteinase from this bacterium.
Abstract: This paper fist examines three set of bivariate cointegrations between any two of current accounts, stock markets, and currency exchange markets in ten Asian countries. Furthermore, we examined the effect of country characters on this bivariate cointegration. Our findings suggest that for three sets of cointegration test, each sample country at least exists one cointegration. India consistently exhibited a bi-directional causal relationship between any two of three indicators. Unlike Pan et al. (2007) and Phylaktis and Ravazzolo (2005), we found that such cointegration is influenced by three characteristics: capital control; flexibility in foreign exchange rates; and the ratio of trade to GDP. These characteristics are the result of liberalization in each Asian country. This implies that liberalization policies are effective on improving the cointegration between any two of financial markets and current account for ten Asian countries.
Abstract: Position based routing protocols are the kinds of
routing protocols, which they use of nodes location information,
instead of links information to routing. In position based routing
protocols, it supposed that the packet source node has position
information of itself and it's neighbors and packet destination node.
Greedy is a very important position based routing protocol. In one of
it's kinds, named MFR (Most Forward Within Radius), source node
or packet forwarder node, sends packet to one of it's neighbors with
most forward progress towards destination node (closest neighbor to
destination). Using distance deciding metric in Greedy to forward
packet to a neighbor node, is not suitable for all conditions. If closest
neighbor to destination node, has high speed, in comparison with
source node or intermediate packet forwarder node speed or has very
low remained battery power, then packet loss probability is
increased. Proposed strategy uses combination of metrics distancevelocity
similarity-power, to deciding about giving the packet to
which neighbor. Simulation results show that the proposed strategy
has lower lost packets average than Greedy, so it has more reliability.
Abstract: The building sector is the largest energy consumer and
CO2 emitter in the European Union (EU) and therefore the active
reduction of energy consumption and elimination of energy wastage
are among the main goals in it. Healthy housing and energy
efficiency are affected by many factors which set challenges to
monitoring, control and research of indoor air quality (IAQ) and
energy consumption, especially in old buildings. These challenges
include measurement and equipment costs, for example.
Additionally, the measurement results are difficult to interpret and
their usage in the ventilation control is also limited when taking into
account the energy efficiency of housing at the same time. The main
goal of this study is to develop a cost-effective building monitoring
and control system especially for old buildings. The starting point or
keyword of the development process is a wireless system; otherwise
the installation costs become too high. As the main result, this paper
describes an idea of a wireless building monitoring and control
system. The first prototype of the system has been installed in 10
residential buildings and in 10 school buildings located in the City of
Kuopio, Finland.
Abstract: Attitude control of aerospace system with liquid containers may face to a problem associate with fuel sloshing. The sloshing phenomena can degrade the stability of control system and in the worst case, interaction between the attitude control system and fuel vibration leading to resonance. In this paper, a full process of nonlinear dynamic modeling of an aerospace launch vehicle with fuel sloshing is given. Then, a new control system based on model reference adaptive filter is proposed and its algorithm is extracted. This controller implemented on the main attitude control system. Finally, numerical simulation of nonlinear model and control system is carried out to examine the performance of the new controller. Results of simulations show that the inconvenient effects of the fuel sloshing by augmenting this control system are reduced and attitude control system performs, satisfactorily.
Abstract: This paper presents a watermarking protocol able to
solve the well-known “customer-s right problem" and “unbinding
problem". In particular, the protocol has been purposely designed
to be adopted in a web context, where users wanting to buy digital
contents are usually neither provided with digital certificates issued
by certification authorities (CAs) nor able to autonomously perform
specific security actions. Furthermore, the protocol enables users to
keep their identities unexposed during web transactions as well as
allows guilty buyers, i.e. who are responsible distributors of illegal
replicas, to be unambiguously identified. Finally, the protocol has
been designed so that web content providers (CPs) can exploit
copyright protection services supplied by web service providers (SPs)
in a security context. Thus, CPs can take advantage of complex
services without having to directly implement them.
Abstract: This research is a collaborative narrative research, which is mixed with issues of selected papers and researcher's experience as an anonymous user on social networking sites. The objective of this research is to understand the reasons of the regular users who reject to contact with anonymous users, and to study the communication traditions used in the selected studies. Anonymous users are rejected by regular users, because of the fear of cyber bully, the fear of unpleasant behaviors, and unwillingness of changing communication norm. The suggestion for future research design is to use longitudinal design or quantitative design; and the theory in rhetorical tradition should be able to help develop a strong trust message.
Abstract: Article devoted to the development of technologies
for medicine and agroecology by using plant organelle – spherosome.
Technological method of purification and isolation of this organelle
by using novel nanostructured carbon sorbent – “nanocarbosorb"
ARK type are presented. Also the methods of preparation of
nanocontainers based on using of spherosome with loaded isosorbide
dinitrate, piroxicam or diclofenak are exhibited. We found that the
spherosome could be applied for ecological aims as bioregulator and
also as biosensor for determination of ammonia ions in water
reservoirs at concentration range 1mM to 100mM.
Abstract: The emergence of information technology has
resulted in an ever-increasing demand to use computers for the
efficient management and dissemination of information. Keeping in
view the strong need of farmers to collect important and updated
information for interactive, flexible and quick decision-making, a
model of Decision Support System for Farm Management is
developed. The paper discusses the use of Internet technology for the
farmers to take decisions. A model is developed for the farmers to
access online interactive and flexible information for their farm
management. The workflow of the model is presented highlighting
the information transfer between different modules.
Abstract: A methodology to design a nonlinear observer in a
bond graph approach is proposed. The class of nonlinear observer
with multivariable nonlinearities is considered. A junction structure
of the bond graph observer is proposed. The proposed methodology
to an electrical transformer and a DC motor including the nonlinear
saturation is applied. Nonlinear observers for the transformer and DC
motor based on multivariable circle criterion in the physical domain
are proposed. In order to show the saturation effects on the
transformer and DC motor, simulation results are obtained. Finally,
the paper describes that convergence of the estimates to the true
states is achieved.
Abstract: Dorsal hand vein pattern is an emerging biometric which is attracting the attention of researchers, of late. Research is being carried out on existing techniques in the hope of improving them or finding more efficient ones. In this work, Principle Component Analysis (PCA) , which is a successful method, originally applied on face biometric is being modified using Cholesky decomposition and Lanczos algorithm to extract the dorsal hand vein features. This modified technique decreases the number of computation and hence decreases the processing time. The eigenveins were successfully computed and projected onto the vein space. The system was tested on a database of 200 images and using a threshold value of 0.9 to obtain the False Acceptance Rate (FAR) and False Rejection Rate (FRR). This modified algorithm is desirable when developing biometric security system since it significantly decreases the matching time.
Abstract: The present paper discusses the basic concepts and the underlying principles of Multi-Agent Systems (MAS) along with an interdisciplinary exploitation of these principles. It has been found that they have been utilized for lots of research and studies on various systems spanning across diverse engineering and scientific realms showing the need of development of a proper generalized framework. Such framework has been developed for the Multi-Agent Systems and it has been generalized keeping in mind the diverse areas where they find application. All the related aspects have been categorized and a general definition has been given where ever possible.
Abstract: This paper presents preliminary results regarding system-level power awareness for FPGA implementations in wireless sensor networks. Re-configurability of field programmable gate arrays (FPGA) allows for significant flexibility in its applications to embedded systems. However, high power consumption in FPGA becomes a significant factor in design considerations. We present several ideas and their experimental verifications on how to optimize power consumption at high level of designing process while maintaining the same energy per operation (low-level methods can be used additionally). This paper demonstrates that it is possible to estimate feasible power consumption savings even at the high level of designing process. It is envisaged that our results can be also applied to other embedded systems applications, not limited to FPGA-based.
Abstract: In order to alleviate the mental and physical problems
of persons with disabilities, animal-assisted therapy (AAT) is one of
the possible modalities that employs the merit of the human-animal
interaction. Nevertheless, to achieve the purpose of AAT for persons
with severe disabilities (e.g. spinal cord injury, stroke, and
amyotrophic lateral sclerosis), real-time animal language
interpretation is desirable. Since canine behaviors can be visually
notable from its tail, this paper proposes the automatic real-time
interpretation of canine tail language for human-canine interaction in
the case of persons with severe disabilities. Canine tail language is
captured via two 3-axis accelerometers. Directions and frequencies
are selected as our features of interests. The novel fuzzy rules based
on Gaussian-Trapezoidal model and center of gravity (COG)-based
defuzzification method are proposed in order to interpret the features
into four canine emotional behaviors, i.e., agitate, happy, scare and
neutral as well as its blended emotional behaviors. The emotional
behavior model is performed in the simulated dog and has also been
evaluated in the real dog with the perfect recognition rate.
Abstract: The objective of this research is to examine the shear thinning behaviour of mixing flow of non-Newtonian fluid like toothpaste in the dissolution container with rotating stirrer. The problem under investigation is related to the chemical industry. Mixing of fluid is performed in a cylindrical container with rotating stirrer, where stirrer is eccentrically placed on the lid of the container. For the simulation purpose the associated motion of the fluid is considered as revolving of the container, with stick stirrer. For numerical prediction, a time-stepping finite element algorithm in a cylindrical polar coordinate system is adopted based on semi-implicit Taylor-Galerkin/pressure-correction scheme. Numerical solutions are obtained for non-Newtonian fluids employing power law model. Variations with power law index have been analysed, with respect to the flow structure and pressure drop.
Abstract: There is growing interest in biodiesel (fatty acid
methyl ester or FAME) because of the similarity in its properties
when compared to those of diesel fuels. Diesel engines operated on
biodiesel have lower emissions of carbon monoxide, unburned
hydrocarbons, particulate matter, and air toxics than when operated
on petroleum-based diesel fuel. Production of fatty acid methyl ester
(FAME) from rapeseed (nonedible oil) fatty acid distillate having
high free fatty acids (FFA) was investigated in this work. Conditions
for esterification process of rapeseed oil were 1.8 % H2SO4 as
catalyst, MeOH/oil of molar ratio 2 : 0.1 and reaction temperature
65 °C, for a period of 3h. The yield of methyl ester was > 90 % in 1
h.
The amount of FFA was reduced from 93 wt % to less than 2 wt %
at the end of the esterification process. The FAME was pureed by
neutralization with 1 M sodium hydroxide in water solution at a
reaction temperature of 62 °C. The final FAME product met with the
biodiesel quality standard, and ASTM D 6751.
Abstract: Nowadays, hand vein recognition has attracted more attentions in identification biometrics systems. Generally, hand vein image is acquired with low contrast and irregular illumination. Accordingly, if you have a good preprocessing of hand vein image, we can easy extracted the feature extraction even with simple binarization. In this paper, a proposed approach is processed to improve the quality of hand vein image. First, a brief survey on existing methods of enhancement is investigated. Then a Radon Like features method is applied to preprocessing hand vein image. Finally, experiments results show that the proposed method give the better effective and reliable in improving hand vein images.
Abstract: This paper analyzes the extent to which the justices of
the U.S. Supreme Court cast votes that support the positions of the
president, or more generally the Executive Branch. Can presidents
count on such deference from those justices they nominate or those
whom are nominated by other presidents of the same party? Or, do
the justices demonstrate judicial independence and impartiality such
that they are not so predisposed to vote in favor of arguments of their
nominating president-s party? The results suggest that while in
general the justices do not exhibit any marked tendency to partisan
support of presidents, more recent and conservative Supreme Court
justices are significantly more likely to support Republican
presidents.
Abstract: In the present work, we propose a new projection method for solving the matrix equation AXB = F. For implementing our new method, generalized forms of block Krylov subspace and global Arnoldi process are presented. The new method can be considered as an extended form of the well-known global generalized minimum residual (Gl-GMRES) method for solving multiple linear systems and it will be called as the extended Gl-GMRES (EGl- GMRES). Some new theoretical results have been established for proposed method by employing Schur complement. Finally, some numerical results are given to illustrate the efficiency of our new method.