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: In this paper, we propose a method to reduce the
various kinds of noise while gathering and recording the
electrocardiogram (ECG) signal. Because of the defects of former
method in the noise elimination of ECG signal, we use translation
invariant (TI) multiwavelet denoising method to the noise elimination.
The advantage of the proposed method is that it may not only remain
the geometrical characteristics of the original ECG signal and keep the
amplitudes of various ECG waveforms efficiently, but also suppress
impulsive noise to some extent. The simulation results indicate that the
proposed method are better than former removing noise method in
aspects of remaining geometrical characteristics of ECG signal and the
signal-to-noise ratio (SNR).
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: Three batches of yogurts were made with soy protein
isolate (SPI) supplemented with 2% (S2), 4% (S4) or 6% (S6) of
skim milk powder (SMP). The fourth batch (control; S0) was
prepared from SPI without SMP supplementation. Lactobacillus
delbrueckii ssp. bulgaricus ATCC 11842 (Lb 11842) and
Streptococcus thermophilus ST 1342 (ST 1342) were used as the
starter culture. Biotransformation of the inactive forms, isoflavone
glycosides (IG) to biologically active forms, isoflavone aglycones
(IA), was determined during 28 d storage. The viability of both
microorganisms was significantly higher (P < 0.05) in S2, S4, and S6
than that in S0. The ratio of lactic acid/acetic acid in S0 was in the
range of 15.53 – 22.31 compared to 7.24 – 12.81 in S2, S4 and S6.
The biotransformation of IG to IA in S2, S4 and S6 was also
enhanced by 9.9 -13.3% compared to S0.
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: Hospitals in southern Hualien teamed with the
Hypertension Joint Care Network. Working with the network, the
team provided a special designed health education to the individual
who had been identified as a hypertension patient in the outpatient
department. Some metabolism improvements achieved. This is a
retrospective study by purposively taking 106 patients from a hospital
between 2008 and 2010. Records of before and after education
intervention of the objects was collected and analyzed to see the how
the intervention affected the patients- hypertension control via clinical
parameter monitoring. The results showed that the clinical indicators,
the LDL-C, the cholesterol and the systolic blood pressure were
significantly improved. The study provides evidence for the
effectiveness of the network in controlling hypertension.
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: 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: Computer worm detection is commonly performed by
antivirus software tools that rely on prior explicit knowledge of the
worm-s code (detection based on code signatures). We present an
approach for detection of the presence of computer worms based on
Artificial Neural Networks (ANN) using the computer's behavioral
measures. Identification of significant features, which describe the
activity of a worm within a host, is commonly acquired from security
experts. We suggest acquiring these features by applying feature
selection methods. We compare three different feature selection
techniques for the dimensionality reduction and identification of the
most prominent features to capture efficiently the computer behavior
in the context of worm activity. Additionally, we explore three
different temporal representation techniques for the most prominent
features. In order to evaluate the different techniques, several
computers were infected with five different worms and 323 different
features of the infected computers were measured. We evaluated
each technique by preprocessing the dataset according to each one
and training the ANN model with the preprocessed data. We then
evaluated the ability of the model to detect the presence of a new
computer worm, in particular, during heavy user activity on the
infected computers.
Abstract: This paper is to present context-aware sensor grid
framework for agriculture and its design challenges. Use of sensor
networks in the domain of agriculture is not new. However, due to
the unavailability of any common framework, solutions that are
developed in this domain are location, environment and problem
dependent. Keeping the need of common framework for agriculture,
Context-Aware Sensor Grid Framework is proposed. It will be
helpful in developing solutions for majority of the problems related
to irrigation, pesticides spray, use of fertilizers, regular monitoring of
plot and yield etc. due to the capability of adjusting according to
location and environment. The proposed framework is composed of
three layer architecture including context-aware application layer,
grid middleware layer and sensor network layer.
Abstract: Sensors possess several properties of physical
measures. Whether devices that convert a sensed signal into an
electrical signal, chemical sensors and biosensors, thus all these
sensors can be considered as an interface between the physical and
electrical equipment. The problem is the analysis of the multitudes of
saved settings as input variables. However, they do not all have the
same level of influence on the outputs. In order to identify the most
sensitive parameters, those that can guide users in gathering
information on the ground and in the process of model calibration
and sensitivity analysis for the effect of each change made.
Mathematical models used for processing become very complex.
In this paper a fuzzy rule-based system is proposed as a solution
for this problem. The system collects the available signals
information from sensors. Moreover, the system allows the study of
the influence of the various factors that take part in the decision
system. Since its inception fuzzy set theory has been regarded as a
formalism suitable to deal with the imprecision intrinsic to many
problems. At the same time, fuzzy sets allow to use symbolic models.
In this study an example was applied for resolving variety of
physiological parameters that define human health state. The
application system was done for medical diagnosis help. The inputs
are the signals expressed the cardiovascular system parameters, blood
pressure, Respiratory system paramsystem was done, it will be able
to predict the state of patient according any input values.
Abstract: Many organisations are nowadays interested to adopt
lean manufacturing strategy that would enable them to compete in
this competitive globalisation market. In this respect, it is necessary
to assess the implementation of lean manufacturing in different
organisations so that the important best practices can be identified.
This paper describes the development of key areas which will be
used to assess the adoption and implementation of lean
manufacturing practices. There are some key areas developed to
evaluate and reduce the most optimal projects so as to enhance their
production efficiency and increase the purpose of the economic
benefits of the manufacturing unit.
Lean manufacturing is becoming lean enterprise by treating its
customers and suppliers as partners. This gives the extra edge in
today-s cost and time competitive markets. The organisation is
becoming strong in all the conventional competition points. They are
Price, Quality and Delivery. Lean enterprise owners can deliver high
quality products quickly, with low price.
Abstract: Recent years, adaptive pushover methods have been
developed for seismic analysis of structures. Herein, the accuracy of
the displacement-based adaptive pushover (DAP) method, which is
introduced by Antoniou and Pinho [2004], is evaluated for Irregular
buildings. The results are compared to the force-based procedure.
Both concrete and steel frame structures, asymmetric in plan and
elevation are analyzed and also torsional effects are taking into the
account. These analyses are performed using both near fault and far
fault records. In order to verify the results, the Incremental Dynamic
Analysis (IDA) is performed.
Abstract: In this paper, a Smart Home Service Robot, McBot II,
which performs mess-cleanup function etc. in house, is designed much
more optimally than other service robots. It is newly developed in
much more practical system than McBot I which we had developed
two years ago. One characteristic attribute of mobile platforms
equipped with a set of dependent wheels is their omni- directionality
and the ability to realize complex translational and rotational
trajectories for agile navigation in door. An accurate coordination of
steering angle and spinning rate of each wheel is necessary for a
consistent motion. This paper develops trajectory controller of
3-wheels omni-directional mobile robot using fuzzy azimuth estimator.
A specialized anthropomorphic robot manipulator which can be
attached to the housemaid robot McBot II, is developed in this paper.
This built-in type manipulator consists of both arms with 3 DOF
(Degree of Freedom) each and both hands with 3 DOF each. The
robotic arm is optimally designed to satisfy both the minimum
mechanical size and the maximum workspace. Minimum mass and
length are required for the built-in cooperated-arms system. But that
makes the workspace so small. This paper proposes optimal design
method to overcome the problem by using neck joint to move the arms
horizontally forward/backward and waist joint to move them
vertically up/down. The robotic hand, which has two fingers and a
thumb, is also optimally designed in task-based concept. Finally, the
good performance of the developed McBot II is confirmed through
live tests of the mess-cleanup task.
Abstract: The great challenge of the agricultural sector is to
produce more crop from less water, which can be achieved by
increasing crop water productivity. The modernization of the
irrigation systems offers a number of possibilities to expand the
economic productivity of water and improve the virtual water status.
The objective of the present study is to assess the global water
productivity (GWP) within the major irrigation command areas of
I.R. Iran. For this purpose, fourteen irrigation command areas where
located in different areas of Iran were selected. In order to calculate
the global water productivity of irrigation command areas, all data on
the delivered water to cropping pattern, cultivated area, crops water
requirement, and yield production rate during 2002-2006 were
gathered. In each of the command areas it seems that the cultivated
crops have a higher amount of virtual water and thus can be replaced
by crops with less virtual water. This is merely suggested due to crop
water consumption and at the time of replacing crops, economic
value as well as cultural and political factors must be considered. The
results indicated that the lowest GWP belongs to Mahyar and
Borkhar irrigation areas, 0.24 kg m-3, and the highest is that of the
Dez irrigation area, 0.81 kg m-3. The findings demonstrated that
water management in the two irrigation areas is just efficient. The
difference in the GWP of irrigation areas is due to variations in the
cropping pattern, amount of crop productions, in addition to the
effective factors in the water use efficiency in the irrigation areas.
Abstract: Transmission network expansion planning (TNEP) is an important component of power system planning that its task is to minimize the network construction and operational cost while satisfying the demand increasing, imposed technical and economic conditions. Up till now, various methods have been presented to solve the static transmission network expansion planning (STNEP) problem. But in all of these methods, the lines adequacy rate has not been studied after the planning horizon, i.e. when the expanded network misses its adequacy and needs to be expanded again. In this paper, in order to take transmission lines condition after expansion in to account from the line loading view point, the adequacy of transmission network is considered for solution of STNEP problem. To obtain optimal network arrangement, a decimal codification genetic algorithm (DCGA) is being used for minimizing the network construction and operational cost. The effectiveness of the proposed idea is tested on the Garver's six-bus network. The results evaluation reveals that the annual worth of network adequacy has a considerable effect on the network arrangement. In addition, the obtained network, based on the DCGA, has lower investment cost and higher adequacy rate. Thus, the network satisfies the requirements of delivering electric power more safely and reliably to load centers.