Abstract: Due to their high power-to-weight ratio and low cost, pneumatic actuators are attractive for robotics and automation applications; however, achieving fast and accurate control of their position have been known as a complex control problem. The paper presents a methodology for obtaining controllers that achieve high position accuracy and preserve the closed-loop characteristics over a broad operating range. Experimentation with a number of conventional (or "classical") three-term controllers shows that, as repeated operations accumulate, the characteristics of the pneumatic actuator change requiring frequent re-tuning of the controller parameters (PID gains). Furthermore, three-term controllers are found to perform poorly in recovering the closed-loop system after the application of load or other external disturbances. The key reason for these problems lies in the non-linear exchange of energy inside the cylinder relating, in particular, to the complex friction forces that develop on the piston-wall interface. In order to overcome this problem but still remain within the boundaries of classical control methods, we designed an auto selective classicaql controller so that the system performance would benefit from all three control gains (KP, Kd, Ki) according to system requirements and the characteristics of each type of controller. This challenging experimentation took place for consistent performance in the face of modelling imprecision and disturbances. In the work presented, a selective PID controller is presented for an experimental rig comprising an air cylinder driven by a variable-opening pneumatic valve and equipped with position and pressure sensors. The paper reports on tests carried out to investigate the capability of this specific controller to achieve consistent control performance under, repeated operations and other changes in operating conditions.
Abstract: Most of the collision warning systems currently
available in the automotive market are mainly designed to warn
against imminent rear-end and lane-changing collisions. No collision
warning system is commercially available to warn against imminent
turning collisions at intersections, especially for left-turn collisions
when a driver attempts to make a left-turn at either a signalized or
non-signalized intersection, conflicting with the path of other
approaching vehicles traveling on the opposite-direction traffic
stream. One of the major factors that lead to left-turn collisions is the
human error and misjudgment of the driver of the turning vehicle
when perceiving the speed and acceleration of other vehicles
traveling on the opposite-direction traffic stream; therefore, using a
properly-designed collision warning system will likely reduce, or
even eliminate, this type of collisions by reducing human error. This
paper introduces perceptual framework for a proposed collision
warning system that can detect imminent left-turn collisions at
intersections. The system utilizes a commercially-available detection
sensor (either a radar sensor or a laser detector) to detect approaching
vehicles traveling on the opposite-direction traffic stream and
calculate their speeds and acceleration rates to estimate the time-tocollision
and compare that time to the time required for the turning
vehicle to clear the intersection. When calculating the time required
for the turning vehicle to clear the intersection, consideration is given
to the perception-reaction time of the driver of the turning vehicle,
which is the time required by the driver to perceive the message
given by the warning system and react to it by engaging the throttle.
A regression model was developed to estimate perception-reaction
time based on age and gender of the driver of the host vehicle.
Desired acceleration rate selected by the driver of the turning vehicle,
when making the left-turn movement, is another human factor that is
considered by the system. Another regression model was developed
to estimate the acceleration rate selected by the driver of the turning
vehicle based on driver-s age and gender as well as on the location
and speed of the nearest approaching vehicle along with the
maximum acceleration rate provided by the mechanical
characteristics of the turning vehicle. By comparing time-to-collision
with the time required for the turning vehicle to clear the intersection,
the system displays a message to the driver of the turning vehicle
when departure is safe. An application example is provided to
illustrate the logic algorithm of the proposed system.
Abstract: One of the important steps in a safety and risk management system is the economical evaluation of occupational accident and diseases costs in order to decrease accidents from reoccurring in the workplace. This study proposed a plausible method for calculating occupational accident costs and illnesses in work place. This method design for cost estimation takes into account both the personnel, organizational level as well as the community level especially intended for an Iranian work place. The research indicates that a using systematic method for calculating costs which also provides risk evaluation can help managers to plan correctly the investment in health and safety measures. Using this method is that not only is it comprehensive, easy and practical and could be applied in practice by a manager within a short period of time but it also shows the importance of accident costs as well as calculates the real cost of an accident and illnesses.
Abstract: The paper presents the service learning project titled
DicDucFac (idea-leadership-product), that was planned and
conducted by the team of information sciences students. It was
planned as a workshop dealing with the application of modern social
media (Facebook, YouTube, Gmail) for the purposes of selfpromotion,
free advertising via social networks and marketing own
ideas and/or products in the virtual world. The workshop was
organized for highly-skilled computer literate unemployed youth.
These youth, as final beneficiaries, will be able to apply what they
learned in this workshop to “the real world“, increasing their chances
for employment and self-employment. The results of the project
reveal that the basic, active-learning principles embodied in our
teaching approach allow students to learn more effectively and gain
essential life skills (from computer applications to teamwork) that
can only be learned by doing. It also shows that our students received
the essentials of professional ethics and citizenship through direct,
personal engagement in professional activities and the life of the
community.
Abstract: Larval rearing and seed production of most of tetra fishes (Family: Characidae) is critical due to their small size larvae and limited numbers of spawning attempts. During the present study the effect of different live foods on growth and survival of neon tetra, Paracheirodon innesi larvae (length 3.1 ± 0.012mm, weight 0.048 ± 0.00015mg) and early fry (length = 6.44 ± 0.025mm, weight = 0.64 ± 0.003mg and 13 days old) was determined in two experiments. Experiment I was conducted for rearing the larvae by using mixed green water and Infusoria whereas, in Experiment II, early fry were fed with mixed zooplankton, decapsulated Artemia cyst and Artemia nauplii. The larvae fed on mixed green water showed significant (p
Abstract: Transient Stability is an important issue in power systems planning, operation and extension. The objective of transient stability analysis problem is not satisfied with mere transient instability detection or evaluation and it is most important to complement it by defining fast and efficient control measures in order to ensure system security. This paper presents a new Fuzzy Support Vector Machines (FSVM) to investigate the stability status of power systems and a modified generation rescheduling scheme to bring back the identified unstable cases to a more economical and stable operating point. FSVM improves the traditional SVM (Support Vector Machines) by adding fuzzy membership to each training sample to indicate the degree of membership of this sample to different classes. The preventive control based on economic generator rescheduling avoids the instability of the power systems with minimum change in operating cost under disturbed conditions. Numerical results on the New England 39 bus test system show the effectiveness of the proposed method.
Abstract: Thailand is one of the world-s leaders of rice
producers and exporters. Farmers have to increase the rice cultivation
frequency for serving the national increasing of export-s demand. It
leads to an elimination of rice residues by open burning which is the
quickest and costless management method. The open burning of rice
residue is one of the major causes of air pollutants and greenhouse
gas (GHG) emission. Under ASEAN agreement on trans-boundary
haze, Thailand set the master plan to mitigate air pollutant emission
from open burning of agricultural residues. In this master plan,
residues incorporation is promoted as alternative management
method to open burning. However, the assessment of both options in
term of GHG emission in order to investigate their contribution to
long-term global warming is still scarce or inexistent. In this study, a
method on rice residues assessment was first developed in order to
estimate and compare GHG emissions from rice cultivation under
rice residues open burning and the case with incorporation of the
same amount of rice residues, using 2006 IPCC guidelines for
emission estimation and Life Cycle Analysis technique. The
emission from rice cultivation in different preparing area practice
was also discussed.
Abstract: This paper presents the first reflexions about Margaret Mascarenhas-s novel, “Skin", based on post-colonial critic perception of History and its agents. By doing so, this study will put light on a literary corpus of Indian Literatures: the Goan Literature whose cultural basis creates an unique historiographic metafiction conducted by different characters that one by one plays the narrator role.
Abstract: Supply chain consists of all stages involved, directly
or indirectly, includes all functions involved in fulfilling a customer
demand. In two stage transportation supply chain problem,
transportation costs are of a significant proportion of final product
costs. It is often crucial for successful decisions making approaches
in two stage supply chain to explicit account for non-linear
transportation costs. In this paper, deterministic demand and finite
supply of products was considered. The optimized distribution level
and the routing structure from the manufacturing plants to the
distribution centres and to the end customers is determined using
developed mathematical model and solved by proposed particle
swarm optimization based genetic algorithm. Numerical analysis of
the case study is carried out to validate the model.
Abstract: In the modern manufacturing systems, the use of
thermal cutting techniques using oxyfuel, plasma and laser have
become indispensable for the shape forming of high quality complex
components; however, the conventional chip removal production
techniques still have its widespread space in the manufacturing
industry. Both these types of machining operations require the
positioning of end effector tool at the edge where the cutting process
commences. This repositioning of the cutting tool in every machining
operation is repeated several times and is termed as non-productive
time or airtime motion. Minimization of this non-productive
machining time plays an important role in mass production with high
speed machining. As, the tool moves from one region to the other by
rapid movement and visits a meticulous region once in the whole
operation, hence the non-productive time can be minimized by
synchronizing the tool movements. In this work, this problem is
being formulated as a general travelling salesman problem (TSP) and
a genetic algorithm approach has been applied to solve the same. For
improving the efficiency of the algorithm, the GA has been
hybridized with a noble special heuristic and simulating annealing
(SA). In the present work a novel heuristic in the combination of GA
has been developed for synchronization of toolpath movements
during repositioning of the tool. A comparative analysis of new Meta
heuristic techniques with simple genetic algorithm has been
performed. The proposed metaheuristic approach shows better
performance than simple genetic algorithm for minimization of nonproductive
toolpath length. Also, the results obtained with the help of
hybrid simulated annealing genetic algorithm (HSAGA) are also
found better than the results using simple genetic algorithm only.
Abstract: A real time image-guided electroplating system is
proposed in this paper. Unlike previous electroplating systems, instead
of using the intermittent mode to electroplate 500um long copper
specimen, a CCD camera and a motion controller are used to adjust
anode-cathode distance to obtain better results. Since the image of the
gap distance is highly deteriorated due to complex chemical-electrical
operation inside the electrolyte, to determine the gap distance, an
image processing algorithm is developed and mainly based on the
entropy and energy values. In addition, the color and incidence
direction of light source are also discussed to help the image process in
this paper. From the experiment results, the specimens created by the
proposed system show better structure, better uniformity and better
finishing surface compared to those by previous intermittent
electroplating setup.
Abstract: In this paper we present an extension to Vision Based
LRTA* (VLRTA*) known as Vision Based Moving Target Search
(VMTS) for capturing unknown moving target in unknown territory
with randomly generated obstacles. Target position is unknown to the
agents and they cannot predict its position using any probability
method. Agents have omni directional vision but can see in one
direction at some point in time. Agent-s vision will be blocked by the
obstacles in the search space so agent can not see through the
obstacles. Proposed algorithm is evaluated on large number of
scenarios. Scenarios include grids of sizes from 10x10 to 100x100.
Grids had obstacles randomly placed, occupying 0% to 50%, in
increments of 10%, of the search space. Experiments used 2 to 9
agents for each randomly generated maze with same obstacle ratio.
Observed results suggests that VMTS is effective in locate target
time, solution quality and virtual target. In addition, VMTS becomes
more efficient if the number of agents is increased with proportion to
obstacle ratio.
Abstract: Pharmacology curriculum plays an integral role in
medical education. Learning pharmacology to choose and prescribe
drugs is a major challenge encountered by students. We developed
pharmacology applied learning activities for first year medical
students that included realistic clinical situations with escalating
complications which required the students to analyze the situation
and think critically to choose a safe drug. Tutor feedback was
provided at the end of session. Evaluation was done to assess the
students- level of interest and usefulness of the sessions in rational
selection of drugs. Majority (98 %) of the students agreed that the
session was an extremely useful learning exercise and agreed that
similar sessions would help in rational selection of drugs. Applied
learning sessions in the early years of medical program may promote
deep learning and bridge the gap between pharmacology theory and
clinical practice. Besides, it may also enhance safe prescribing skills.
Abstract: In intensity modulated radiation therapy (IMRT)
treatment planning, beam angles are usually preselected on the basis of
experience and intuition. Therefore, getting an appropriate beam
configuration needs a very long time. Based on the present situation,
the paper puts forward beam orientation optimization using ant colony
optimization (ACO). We use ant colony optimization to select the
beam configurations, after getting the beam configuration using
Conjugate Gradient (CG) algorithm to optimize the intensity profiles.
Combining with the information of the effect of pencil beam, we can
get the global optimal solution accelerating. In order to verify the
feasibility of the presented method, a simulated and clinical case was
tested, compared with dose-volume histogram and isodose line
between target area and organ at risk. The results showed that the
effect was improved after optimizing beam configurations. The
optimization approach could make treatment planning meet clinical
requirements more efficiently, so it had extensive application
perspective.
Abstract: The massive proliferation of affordable computers, Internet broadband connectivity and rich education content has created a global phenomenon in which information and communication technology (ICT) is being used to transform education. Therefore, there is a need to redesign the educational system to meet the needs better. The advent of computers with sophisticated software has made it possible to solve many complex problems very fast and at a lower cost. This paper introduces the characteristics of the current E-Learning and then analyses the concept of cloud computing and describes the architecture of cloud computing platform by combining the features of E-Learning. The authors have tried to introduce cloud computing to e-learning, build an e-learning cloud, and make an active research and exploration for it from the following aspects: architecture, construction method and external interface with the model.
Abstract: The role of the pollen grain, with to the reproductive
process of higher plants, is to deliver the spermatic cells to the
embryo sac for egg fertilization. The aim of this project was study
the effect of electromagnetic fields on structure and pollen grains
development in Chenopodium album. Anthers of Chenopodium
album L. were collected at different stages of development from
control (without electromagnetic field) and plants grown at 10m from
the field sources. Structure and development of pollen grains were
studied and compared. The studying pollen structure by Light and
Scanning electron microscopy showed that electromagnetic fields
reduction of pollen grains number and male sterility, thus , in some
anthers, pollen grains were attached together and deformed compared
to control ones. The data presented suggest that prolonged exposures
of plants to magnetic field may cause different biological effects at
the cellular tissue and organ levels.
Abstract: Two-dimensional finite element model was created in this work to investigate the stresses distribution within rock-like samples with offset open non-persistent joints under biaxial loading. The results of this study have explained the fracture mechanisms observed in tests on rock-like material with open non-persistent offset joints [1]. Finite element code SAP2000 was used to study the stresses distribution within the specimens. Four-nodded isoperimetric plain strain element with two degree of freedom per node, and the three-nodded constant strain triangular element with two degree of freedom per node were used in the present study.The results of the present study explained the formation of wing cracks at the tip of the joints for low confining stress as well as the formation of wing cracks at the middle of the joint for the higher confining stress. High shear stresses found in the numerical study at the tip of the joints explained the formation of secondary cracks at the tip of the joints in the experimental study. The study results coincide with the experimental observations which showed that for bridge inclination of 0o, the coalescence occurred due to shear failure and for bridge inclination of 90o the coalescence occurred due to tensile failure while for the other bridge inclinations coalescence occurred due to mixed tensile and shear failure.
Abstract: The effect of varying holding temperature on hatching success, occurrence of deformities and mortality rates were investigated for goldlined seabream eggs. Wild broodstock (600 g) were stocked at a 2:1 male-female ratio in a 2 m3 fiberglass tank supplied with filtered seawater (37 g L-1 salinity, temp. range 24±0.5 oC [day] and 22±1 oC [night], DO2 in excess of 5.0mg L-1). Females were injected with 200 IU kg-1 HCG between 08.00 and 10.00 h and returned to tanks to spawn following which eggs were collected by hand using a 100μm net. Fertilized eggs at the gastrulation stage (120 L-1) were randomly placed into one of 12 experimental 6 L aerated (DO2 5 mg L-1) plastic containers with water temperatures maintained at 24±0.5 oC (ambient), 26±0.5 oC, 28± 0.5 oC and 30±0.5 oC using thermostats. Each treatment was undertaken in triplicate using a 12:12 photophase:scotophase photoperiod. No differences were recorded between eggs reared at 24 and 26 oC with respect to viability, deformity, mortality or unhatched egg rates. Increasing temperature reduced the number of viable eggs with those at 30 oC returning poorest performance (P < 0.05). Mortality levels were lowest for eggs incubated at 24 and 26 oC. The greatest level of deformities recorded was that for eggs reared at 28 oC.
Abstract: Silicon is a beneficial element for plant growth. It
helps plants to overcome multiple stresses, alleviates metal toxicity
and improves nutrient imbalance. Field experiment was conducted as
split-split plot arranged in a randomized complete block design with
four replications. Irrigation system include continues flooding and
deficit as main plots and nitrogen rates N0, N46, N92, and N138 kg/ha
as sub plots and silicon rates Si0 & Si500 kg/ha as sub-subplots.
Results indicate that grain yield had not significant difference
between irrigation systems. Flooding irrigation had higher biological
yield than deficit irrigation whereas, no significant difference in grain
and straw yield. Nitrogen application increased grain, biological and
straw yield. Silicon application increased grain, biological and straw
yield but, decreased harvest index. Flooding irrigation had higher
number of total tillers / hill than deficit irrigation, but deficit
irrigation had higher number of fertile tillers / hill than flooding
irrigation. Silicon increased number of filled spikelet and decreased
blank spikelet. With high nitrogen application decreased 1000-grain
weight. It can be concluded that if the nitrogen application was high
and water supplied was available we could have silicon application
until increase grain yield.
Abstract: International literature emphasizes on the concern regarding the phenomenon of aggression in hospital. This paper focuses on the reality of aggressive interactions reigning within an emergency triage involving three chaps of protagonists: the professionals, the patients and their carers. The data collection was made from a grid of observation, in which the various variables exposed in the literature were integrated. They observations took place around the clock, for three weeks, at the rate of one week a month. In this research 331 aggressive interactions have been listed and analyzed by means of the software SPSS. This research is one of the very few continuous observation surveys in the literature. It shows the various human factors at play in the emergence of aggressive interaction. The data may be used both for taking steps in primary prevention, thanks to the analysis of interaction modes, and in secondary prevention by integrating the useful results in situational prevention.