Abstract: This paper investigates simple implicit force control
algorithms realizable with industrial robots. A lot of approaches
already published are difficult to implement in commercial robot
controllers, because the access to the robot joint torques is necessary
or the complete dynamic model of the manipulator is used. In
the past we already deal with explicit force control of a position
controlled robot. Well known schemes of implicit force control are
stiffness control, damping control and impedance control. Using such
algorithms the contact force cannot be set directly. It is further
the result of controller impedance, environment impedance and
the commanded robot motion/position. The relationships of these
properties are worked out in this paper in detail for the chosen
implicit approaches. They have been adapted to be implementable
on a position controlled robot. The behaviors of stiffness control
and damping control are verified by practical experiments. For this
purpose a suitable test bed was configured. Using the full mechanical
impedance within the controller structure will not be practical in the
case when the robot is in physical contact with the environment. This
fact will be verified by simulation.
Abstract: Heat transfer due to forced convection of copper water
based nanofluid has been predicted by Artificial Neural network
(ANN). The present nanofluid is formed by mixing copper
nanoparticles in water and the volume fractions are considered here
are 0% to 15% and the Reynolds number are kept constant at 100.
The back propagation algorithm is used to train the network. The
present ANN is trained by the input and output data which has been
obtained from the numerical simulation, performed in finite volume
based Computational Fluid Dynamics (CFD) commercial software
Ansys Fluent. The numerical simulation based results are compared
with the back propagation based ANN results. It is found that the
forced convection heat transfer of water based nanofluid can be
predicted correctly by ANN. It is also observed that the back
propagation ANN can predict the heat transfer characteristics of
nanofluid very quickly compared to standard CFD method.
Abstract: Thousands of organisations store important and
confidential information related to them, their customers, and their
business partners in databases all across the world. The stored data
ranges from less sensitive (e.g. first name, last name, date of birth) to
more sensitive data (e.g. password, pin code, and credit card
information). Losing data, disclosing confidential information or
even changing the value of data are the severe damages that
Structured Query Language injection (SQLi) attack can cause on a
given database. It is a code injection technique where malicious SQL
statements are inserted into a given SQL database by simply using a
web browser. In this paper, we propose an effective pattern
recognition neural network model for detection and classification of
SQLi attacks. The proposed model is built from three main elements
of: a Uniform Resource Locator (URL) generator in order to generate
thousands of malicious and benign URLs, a URL classifier in order
to: 1) classify each generated URL to either a benign URL or a
malicious URL and 2) classify the malicious URLs into different
SQLi attack categories, and a NN model in order to: 1) detect either a
given URL is a malicious URL or a benign URL and 2) identify the
type of SQLi attack for each malicious URL. The model is first
trained and then evaluated by employing thousands of benign and
malicious URLs. The results of the experiments are presented in
order to demonstrate the effectiveness of the proposed approach.
Abstract: The purpose of the paper is to estimate the US small
wind turbines market potential and forecast the small wind turbines
sales in the US. The forecasting method is based on the application of
the Bass model and the generalized Bass model of innovations
diffusion under replacement purchases. In the work an exponential
distribution is used for modeling of replacement purchases. Only one
parameter of such distribution is determined by average lifetime of
small wind turbines. The identification of the model parameters is
based on nonlinear regression analysis on the basis of the annual
sales statistics which has been published by the American Wind
Energy Association (AWEA) since 2001 up to 2012. The estimation
of the US average market potential of small wind turbines (for
adoption purchases) without account of price changes is 57080
(confidence interval from 49294 to 64866 at P = 0.95) under average
lifetime of wind turbines 15 years, and 62402 (confidence interval
from 54154 to 70648 at P = 0.95) under average lifetime of wind
turbines 20 years. In the first case the explained variance is 90,7%,
while in the second - 91,8%. The effect of the wind turbines price
changes on their sales was estimated using generalized Bass model.
This required a price forecast. To do this, the polynomial regression
function, which is based on the Berkeley Lab statistics, was used. The
estimation of the US average market potential of small wind turbines
(for adoption purchases) in that case is 42542 (confidence interval
from 32863 to 52221 at P = 0.95) under average lifetime of wind
turbines 15 years, and 47426 (confidence interval from 36092 to
58760 at P = 0.95) under average lifetime of wind turbines 20 years.
In the first case the explained variance is 95,3%, while in the second
– 95,3%.
Abstract: Sol-enhanced Zn-Ni-Al2O3 nanocomposite coatings
were electroplated on mild steel by our newly developed solenhanced
electroplating method. In this method, transparent Al2O3 sol
was added into the acidic Zn-Ni bath to produced Zn-Ni-Al2O3nanocomposite
coatings. The chemical composition, microstructure and
mechanical properties of the composite and alloy coatings deposited
at two different agitation speed were investigated. The structure of all
coatings was single γ-Ni5Zn21 phase. The composite coatings possess
refined crystals with higher microhardness compared to Zn-Ni alloy
coatings. The wear resistance of Zn-Ni coatings was improved
significantly by incorporation of alumina nano particles into the
coatings. Higher agitation speed provided more uniform coatings
with smaller grain sized and slightly higher microhardness.
Considering composite coatings, high agitation speeds may facilitate
co-deposition of alumina in the coatings.
Abstract: Extracting and determining chlorophyll pigments
(chlorophyll a and b) in green leaves are the procedures based on the
solvent extraction of pigments in samples using N,Ndimethylformamide
as the extractant. In this study, two species of
soluble inorganic selenium forms, selenite (SeIV) and selenate (SeVI)
at different concentrations were investigated on maize plants that
were growing in nutrient solutions during 2 weeks and at the end of
the experiment, amounts of chlorophyll a and b for first and second
leaves of maize were measured. In accordance with the results we
observed that our regarded Se concentrations in both forms of SeIV
and SeVI were not effective on maize plants’ chlorophyll a and b
significantly although high level of 3 mg.kg-1 SeIV had negative affect
on growth of the samples that had been treated by it but about SeVI
samples we did not observe this state and our different considered
SeVI concentrations were not toxic for maize plants.
Abstract: Transportation of long turbine blades from one place
to another is a difficult process. Hence a feasibility study of
modularization of wind turbine blade was taken from structural
standpoint through finite element analysis. Initially, a non-segmented
blade is modeled and its structural behavior is evaluated to serve as
reference. The resonant, static bending and fatigue tests are simulated
in accordance with IEC61400-23 standard for comparison purpose.
The non-segmented test blade is separated at suitable location based
on trade off studies and the segments are joined with an innovative
double strap bonded joint configuration. The adhesive joint is
modeled by adopting cohesive zone modeling approach in ANSYS.
The developed blade model is analyzed for its structural response
through simulation. Performances of both the blades are found to be
similar, which indicates that, efficient segmentation of the long blade
is possible which facilitates easy transportation of the blades and on
site reassembling. The location selected for segmentation and
adopted joint configuration has resulted in an efficient segmented
blade model which proves the methodology adopted for segmentation
was quite effective. The developed segmented blade appears to be the
viable alternative considering its structural response specifically in
fatigue within considered assumptions.
Abstract: The paper deals with the classical fiber bundle model
of equal load sharing, sometimes referred to as the Daniels’ bundle
or the democratic bundle. Daniels formulated a multidimensional
integral and also a recursive formula for evaluation of the
strength cumulative distribution function. This paper describes
three algorithms for evaluation of the recursive formula and also
their implementations with source codes in the Python high-level
programming language. A comparison of the algorithms are provided
with respect to execution time. Analysis of orders of magnitudes of
addends in the recursion is also provided.
Abstract: The area of liberty, security and justice within the
European Union is still a work in progress. No one can deny that the
EU struggles between a monistic and a dualist approach.
The aim of our essay is to first review how the European law is
perceived by the rest of the international scene. It will then discuss
two main mechanisms at play: the interpretation of larger
international treaties and the penal mechanisms of European law.
Finally, it will help us understand the role of a penal Europe on the
international scene with concrete examples.
Special attention will be paid to cases that deal with fundamental
rights as they represent an interesting case study in Europe and in the
rest of the World. It could illustrate the aforementioned duality
currently present in the Union’s interpretation of international public
law. On the other hand, it will explore some specific European penal
mechanism through mutual recognition and the European arrest
warrant in the transnational criminality frame.
Concerning the interpretation of the treaties, it will first, underline
the ambiguity and the general nature of some treaties that leave the
EU exposed to tension and misunderstanding then it will review the
validity of an EU act (whether or not it is compatible with the rules of
International law).
Finally, it will focus on the most complete manifestation of liberty,
security and justice through the principle of mutual recognition. Used
initially in commercial matters, it has become “the cornerstone” of
European construction. It will see how it is applied in judicial
decisions (its main event and achieving success is via the European
arrest warrant) and how European member states have managed to
develop this cooperation.
Abstract: This paper presents a numerical investigation of two
horizontally mounted four-lobed swirl pipes in terms of swirl
induction effectiveness into flows passing through them. The swirl
flows induced by the two swirl pipes have the potential to improve
the efficiency of Clean-In-Place procedures in a closed processing
system by local intensification of hydrodynamic impact on the
internal pipe surface. Pressure losses, swirl development within the
two swirl pipe, swirl induction effectiveness, swirl decay and wall
shear stress variation downstream of two swirl pipes are analyzed and
compared. It was found that a shorter length of swirl inducing pipe
used in joint with transition pipes is more effective in swirl induction
than when a longer one is used, in that it has a less constraint to the
induced swirl and results in slightly higher swirl intensity just
downstream of it with the expense of a smaller pressure loss. The
wall shear stress downstream of the shorter swirl pipe is also slightly
larger than that downstream of the longer swirl pipe due to the
slightly higher swirl intensity induced by the shorter swirl pipe. The
advantage of the shorter swirl pipe in terms of swirl induction is more
significant in flows with a larger Reynolds Number.
Abstract: Aim of this work is to determine the theoretical and
experimental properties of filament wound glass fiber/epoxy resin
composite pipes with different winding design subjected under
bending. For determination of bending strength of composite samples
three point bending tests were conducted. Good correlation between
theoretical and experimental results has been obtained, where sample
No4 has shown the highest value of bending strength. All samples
have demonstrated matrix cracking and fiber failure followed by
layers delamination during testing. Also, it was found that smaller
winding angles lead to an increase in bending stress. From presented
results good merger between glass fibers and epoxy resin was
confirmed by SEM analysis.
Abstract: In this study, firstly democratic thoughts which
directly or indirectly affect economic development and/or the
interaction between authoritarian regimes and the economic
development and the direction and channels of this interaction were
studied and then the study tried to determine how democracy affects
economic development. It was concluded that the positive
contributions of democracy to economic development were more
determinant than the effects that were either negative or restrictive in
terms of development. When compared to autocracy, since
democracy is more successful in managing social conflicts, ensuring
political stability and preventing social disasters such as famine, it
contributes more to economic development. Democracy also
facilitates delegation of authority, provides a stable investment
environment and accelerates mobilization of resources in accordance
with economic growth/development. Democracy leads to an increase
in human capital accumulation and increases the growth rate through
reducing income inequality. It can be said that democratic regimes
are the most appropriate ones in terms of increasing economic
performance and supporting economic development through their
strong institutional structures and the assurance they will ensure in
property rights.
Abstract: Non-crimp 3D orthogonal fabric composite is one of
the textile-based composite materials that are rapidly developing
light-weight engineering materials. The present paper focuses on
geometric and micromechanical modeling of non-crimp 3D
orthogonal carbon fabric and composites reinforced with it for
aerospace applications. In this research meso-finite element (FE)
modeling employs for stress analysis in different load conditions.
Since mechanical testing of expensive textile carbon composites with
specific application isn't affordable, simulation composite in a virtual
environment is a helpful way to investigate its mechanical properties
in different conditions.
Abstract: Background: Worldwide, at least 2.8 million people
die each year as a result of being overweight or obese, and 35.8
million (2.3%) of global DALYs are caused by overweight or
obesity. Obesity is acknowledged as one of the burning public
health problems reducing life expectancy and quality of life. The
body composition analysis of the university population is essential
in assessing the nutritional status, as well as the risk of developing
diseases associated with abnormal body fat content so as to make
nutritional recommendations. Objectives: The main aim was to
determine the prevalence of obesity and overweight in University
students using Anthropometric analysis and BIA methods. Material
and Methods: In this cross-sectional study, 283 university students
participated. The body composition analysis was undertaken by
using mainly: i) Anthropometric Measurement: Height, Weight,
BMI, waist circumference, hip circumference and skin fold
thickness, ii) Bio-electrical impedance was used for analysis of
body fat mass, fat percent and visceral fat which was measured by
Tanita SC-330P Professional Body Composition Analyzer. The
data so collected were compiled in MS Excel and analyzed for
males and females using SPSS 16. Results and Discussion: The
mean age of the male (n= 153) studied subjects was 25.37 ±2.39
years and females (n=130) was 22.53 ±2.31. The data of BIA
revealed very high mean fat per cent of the female subjects i.e.
30.3±6.5 per cent whereas mean fat per cent of the male subjects
was 15.60±6.02 per cent indicating a normal body fat range. The
findings showed high visceral fat of both males (12.92±3.02) and
females (16.86±4.98). BMI, BF% and WHR were higher among
females, and BMI was higher among males. The most evident
correlation was verified between BF% and WHR for female
students (r=0.902; p
Abstract: This article presents two methods for the
compensation of harmonics generated by a nonlinear load. The first is
the classic method P-Q. The second is the controller by modern
method of artificial intelligence specifically fuzzy logic. Both
methods are applied to a shunt Active Power Filter (sAPF) based on a
three-phase voltage converter at five levels NPC topology. In
calculating the harmonic currents of reference, we use the algorithm
P-Q and pulse generation, we use the intersective PWM. For
flexibility and dynamics, we use fuzzy logic. The results give us clear
that the rate of Harmonic Distortion issued by fuzzy logic is better
than P-Q.
Abstract: A new steganographic method via the use of numeric
data on public websites with a self-authentication capability is
proposed. The proposed technique transforms a secret message into
partial shares by Shamir’s (k, n)-threshold secret sharing scheme with
n = k + 1. The generated k+1 partial shares then are embedded into the
numeric items to be disguised as part of the website’s numeric content,
yielding the stego numeric content. Afterward, a receiver links to the
website and extracts every k shares among the k+1 ones from the stego
numeric content to compute k+1 copies of the secret, and the
phenomenon of value consistency of the computed k+1 copies is taken
as an evidence to determine whether the extracted message is authentic
or not, attaining the goal of self-authentication of the extracted secret
message. Experimental results and discussions are provided to show
the feasibility and effectiveness of the proposed method.
Abstract: Family is a basic unit of the society and the main
source of human development. The initial aim of the family is
psychological and social support of its members and has special
developmental stages. Researches show the families who have less
cohesion, have more conflicts and maladjustments and the members
of such families are not able to communicate effectively. Family is a
system in which any inter communication is related to child rearing
patterns and can affect it. Even the child rearing styles in childhood
can determine the family communications in adulthood. Therefore,
the aim of the present research was to examine the relationship
between child-rearing styles including authoritative, authoritarian and
permissive with dimensions of family communication patterns
including the conversation and conformity. The research design was a
correlational and the population consisted of the psychology students
of Roudehen Islamic Azad University who were studying in
academic year 2013-2014. A sample of 324 students was selected
randomly from the population. The research tools were the Baumrind
Child-rearing Questionnaires and Family Communication
Patterns Inventory, The Revised Scale of Koerner and Fitzpatrick.
The result was as below: (a) there was a positive and significant
relationship between conversation orientation and authoritative style.
(b) There was no significant relationship between conversation
orientation and other child-rearing styles. (c) There was a negative
significant relationship between conformity orientation and
authoritative style. (d) There was a positive significant relationship
between conformity orientation with authoritarian and permissive
styles. (e) There was a significant relationship between 3 dimensions
of child-rearing and communication patterns.
Abstract: The paper presents new results concerning selection of
optimal information fusion formula for ensembles of C-OTDR
channels. The goal of information fusion is to create an integral
classificator designed for effective classification of seismoacoustic
target events. The LPBoost (LP-β and LP-B variants), the Multiple
Kernel Learning, and Weighing of Inversely as Lipschitz Constants
(WILC) approaches were compared. The WILC is a brand new
approach to optimal fusion of Lipschitz Classifiers Ensembles.
Results of practical usage are presented.
Abstract: The US Consumer Price Indices (CPIs) measures
hundreds of items in the US economy. Many social programs
and government benefits index to the CPIs. The purpose of
this project is to modernize an existing process. This paper will
show the development of a small, visual, software product that
documents the Economic Price Adjustment (EPA) for longterm
contracts. The existing workbook does not provide the
flexibility to calculate EPAs where the base-month and the
option-month are different. Nor does the workbook provide
automated error checking. The small, visual, software product
provides the additional flexibility and error checking. This
paper presents the feedback to project.
Abstract: This paper introduces symbiotic organism search (SOS)
for solving capacitated vehicle routing problem (CVRP). SOS is a new
approach in metaheuristics fields and never been used to solve discrete
problems. A sophisticated decoding method to deal with a discrete
problem setting in CVRP is applied using the basic symbiotic
organism search (SOS) framework. The performance of the algorithm
was evaluated on a set of benchmark instances and compared results
with best known solution. The computational results show that the
proposed algorithm can produce good solution as a preliminary
testing. These results indicated that the proposed SOS can be applied
as an alternative to solve the capacitated vehicle routing problem.