Abstract: This paper presents an iterative algorithm to find a
inverse kinematic solution of 5-DOF robot. The algorithm is to
minimize the iteration number. Since the 5-DOF robot cannot give full
orientation of tool. Only z-direction of tool is satisfied while rotation
of tool is determined by kinematic constraint. This work therefore
described how to specify the tool direction and let the tool rotation free.
The simulation results show that this algorithm effectively worked.
Using the proposed iteration algorithm, error due to inverse kinematics
converged to zero rapidly in 5 iterations. This algorithm was applied in
real welding robot and verified through various practical works.
Abstract: As a multicultural country, Indonesia has many subcultures
with unique performing arts. Some of them are well-known
to international tourists, such as music ensemble (known as gamelan)
in Bali and Java, shadow puppet play (wayang) in Java, and martial
arts (known as pencak silat) in Sumatra. Some examples of famous
traditional dances in Indonesia are Srimpi from Yogyakarta and Solo,
Legong from Bali, and Gong dance from Kalimantan. Performing arts
show the identity of a nation. However, they are a complex subject,
especially when they are addressed to children. The performing arts,
e.g. music, dance theatre, and opera are experiential, experimental,
and emotionally charged. Therefore, the right strategy and promotion
need to be developed to engage children to appreciate and preserve
traditional dances. This study aims to explore and identify
possibilities of internet usage as a medium to promote traditional
dances, especially to children in Indonesia.
Abstract: The focus of this paper is to construct daily time series
exchange rate forecast models of Samoan Tala/USD and Tala/AUD
during the year 2008 to 2012 with neural network The performance
of the models was measured by using varies error functions such as
Root Square mean error (RSME), Mean absolute error (MAE), and
Mean absolute percentage error (MAPE). Our empirical findings
suggest that AR (1) model is an effective tool to forecast the
Tala/USD and Tala/AUD.
Abstract: A DC servomotor position control system using a Fuzzy Logic Sliding mode Model Following Control or FLSMFC approach is presented. The FLSMFC structure consists of an integrator and variable structure system. The integral control is introduced into it in order to eliminated steady state error due to step and ramp command inputs and improve control precision, while the fuzzy control would maintain the insensitivity to parameter variation and disturbances. The FLSMFC strategy is implemented and applied to a position control of a DC servomotor drives. Experimental results indicated that FLSMFC system performance with respect to the sensitivity to parameter variations is greatly reduced. Also, excellent control effects and avoids the chattering phenomenon.
Abstract: The paper structures research approaches to the crisis
and its management. It focuses on approaches – psychological,
sociological, economic, ethical and technological. Furthermore, it
describes the basic features of models chosen according to those
approaches. By their comparison it shows how the crisis influences
organizations and individuals, and their mutual interaction.
Abstract: The primary objective of this research is to improve the flexural capacity of FRP strengthened RC Beam structures with Aluminum and Titanium laminates. FRP rupture of flexural strengthened RC beams using FRP plates generally occurs at the interface between FRP plate and the beam. Therefore, in order to prevent brittle rupture and improve the ductility of the system, this research was performed by using Aluminum and Titanium materials between the two different structural systems. The research also aims to provide various strengthening/retrofitting methods for RC beam structures and to conduct a preliminary analysis of the demands on the structural systems. This was achieved by estimation using the experimental data from this research to identify a flexural capacity for the systems. Ultimately, the preliminary analysis of current study showed that the flexural capacity and system demand ductility was significantly improved by the systems inserted with Aluminum and Titanium anchor plates. Further verification of the experimental research is currently on its way to develop a new or reliable design guideline to retrofit/strengthen the concrete-FRP structural system can be evaluated.
Abstract: Few studies have been conducted on polymeric strip
and the behavior of soil retaining walls. This paper will present the
effect of frequency on the dynamic behavior of reinforced soil
retaining walls with polymeric strips. The frequency content
describes how the amplitude of a ground motion is distributed among
different frequencies. Since the frequency content of an earthquake
motion will strongly influence the effects of that motion, the
characterization of the motion cannot be completed without the
consideration of its frequency content. The maximum axial force of
reinforcements and horizontal displacement of the reinforced walls
are focused in this research. To clarify the dynamic behavior of
reinforced soil retaining walls with polymeric strips, a numerical
modeling using Finite Difference Method is benefited. As the results
indicate, the frequency of input base acceleration has an important
effect on the behavior of these structures. Because of resonant in the
system, where the frequency of the input dynamic load is equal to the
natural frequency of the system, the maximum horizontal
displacement and the maximum axial forces in polymeric strips is
occurred. Moreover, they were to increase the structure flexibility
because of the main advantages of polymeric strips; i.e. being simple
method of construction, having a homogeneous behavior with soils,
and possessing long durability, which are of great importance in
dynamic analysis.
Abstract: To improve the dynamics response of the vehicle
passive suspension, a two-terminal mass is suggested to connect in
parallel with the suspension strut. Three performance criteria, tire grip,
ride comfort and suspension deflection, are taken into consideration to
optimize the suspension parameters. However, the three criteria are
conflicting and non-commensurable. For this reason, the Chebyshev
goal programming method is applied to find the best tradeoff among
the three objectives. A simulation case is presented to describe the
multi-objective optimization procedure. For comparison, the
Chebyshev method is also employed to optimize the design of a
conventional passive suspension. The effectiveness of the proposed
design method has been clearly demonstrated by the result. It is also
shown that the suspension with a two-terminal mass in parallel has
better performance in terms of the three objectives.
Abstract: In this paper, the authors present architecture of a multi agent consultation system for obesity related problems, which hybrid the technology of an expert system (ES) and an intelligent agent (IA). The strength of the ES which is capable of pulling the expert knowledge is consulted and presented to the end user via the autonomous and friendly pushing environment of the intelligent agent.
Abstract: The floating body effect is a serious problem for the
PDSOI MOSFET, and the H-gate layout is frequently used as the body contact to eliminate this effect. Unfortunately, most of the standard commercial SOI MOSFET model is for the device with finger gate, the
necessity of the new models for the H-gate device arises. A simulation
model for the H-gate PDSOI MOSFET is proposed based on the 0.35μm PDSOI process developed by the Institute of Microelectronics
of the Chinese Academy of Sciences (IMECAS), and then the model is well verified by the ring-oscillator.
Abstract: Mobile WiMAX is a broadband wireless solution that
enables convergence of mobile and fixed broadband networks
through a common wide area broadband radio access technology and
flexible network architecture. It adopts Orthogonal Frequency
Division Multiple Access (OFDMA) for improved multi-path
performance in Non-Line-Of-Sight (NLOS) environments. Scalable
OFDMA (SOFDMA) is introduced in the IEEE 802e[1]. WIMAX
system uses one of different types of channel coding but The
mandatory channel coding scheme is based on binary nonrecursive
Convolutional Coding (CC). There are other several optional channel
coding schemes such as block turbo codes, convolutional turbo
codes, and low density parity check (LDPC).
In this paper a comparison between the performance of WIMAX
using turbo code and using convolutional product code (CPC) [2] is
made. Also a combination between them had been done. The CPC
gives good results at different SNR values compared to both the
turbo system, and the combination between them. For example, at
BER equal to 10-2 for 128 subcarriers, the amount of improvement
in SNR equals approximately 3 dB higher than turbo code and equals
approximately 2dB higher than the combination respectively. Several
results are obtained at different modulating schemes (16QAM and
64QAM) and different numbers of sub-carriers (128 and 512).
Abstract: In this paper DJess is presented, a novel distributed production system that provides an infrastructure for factual and procedural knowledge sharing. DJess is a Java package that provides programmers with a lightweight middleware by which inference systems implemented in Jess and running on different nodes of a network can communicate. Communication and coordination among inference systems (agents) is achieved through the ability of each agent to transparently and asynchronously reason on inferred knowledge (facts) that might be collected and asserted by other agents on the basis of inference code (rules) that might be either local or transmitted by any node to any other node.
Abstract: The objective of this study is to evaluate the threshold
stress of the clay with sand subgrade soil. Threshold stress can be
defined as the stress level above which cyclic loading leads to
excessive deformation and eventual failure. The thickness
determination of highways formations using the threshold stress
approach is a more realistic assessment of the soil behaviour because
it is subjected to repeated loadings from moving vehicles. Threshold
stress can be evaluated by plastic strain criterion, which is based on
the accumulated plastic strain behaviour during cyclic loadings [1].
Several conditions of the all-round pressure the subgrade soil namely,
zero confinement, low all-round pressure and high all-round pressure
are investigated. The threshold stresses of various soil conditions are
determined. Threshold stress of the soil are 60%, 31% and 38.6% for
unconfined partially saturated sample, low effective stress saturated
sample, high effective stress saturated sample respectively.
Abstract: Region covariance (RC) descriptor is an effective
and efficient feature for visual tracking. Current RC-based tracking
algorithms use the whole RC matrix to track the target in video
directly. However, there exist some issues for these whole RCbased
algorithms. If some features are contaminated, the whole RC
will become unreliable, which results in lost object-tracking. In
addition, if some features are very discriminative to the
background, other features are still processed and thus reduce the
efficiency. In this paper a new robust tracking method is proposed,
in which the whole RC matrix is decomposed into several low rank
matrices. Those matrices are dynamically chosen and processed so
as to achieve a good tradeoff between discriminability and
complexity. Experimental results have shown that our method is
more robust to complex environment changes, especially either
when occlusion happens or when the background is similar to the
target compared to other RC-based methods.
Abstract: The early diagnostic decision making in industrial processes is absolutely necessary to produce high quality final products. It helps to provide early warning for a special event in a process, and finding its assignable cause can be obtained. This work presents a hybrid diagnostic schmes for batch processes. Nonlinear representation of raw process data is combined with classification tree techniques. The nonlinear kernel-based dimension reduction is executed for nonlinear classification decision boundaries for fault classes. In order to enhance diagnosis performance for batch processes, filtering of the data is performed to get rid of the irrelevant information of the process data. For the diagnosis performance of several representation, filtering, and future observation estimation methods, four diagnostic schemes are evaluated. In this work, the performance of the presented diagnosis schemes is demonstrated using batch process data.
Abstract: Biogas, a clean renewable energy, is attracting a growing
concern of researchers and professionals in many fields. Based
on the natural and climatic conditions in semi-arid regions of northwestern
China, the present study introduces a specifically-designed
family-size biogas plant (with a digester of 10m3) with manure
and urine of animals and humanity as raw materials. The biogas
plant is applicable to areas with altitudes of more than 2000 meters
in northwestern China. In addition to the installation cost, a little
operational expenditure, structure, characteristics, benefits of this
small-scale biogas plant, this article introduces a wide range of
specific popularization methods such as training, financial support,
guided tour to the biogas plant, community-based group study and
delivery of operational manuals. The feasibility of the biogas plant is
explored on the basis of the availability of the raw materials. Simple
operations contained in the current work increase the possibility of
the wide use of this small-scale biogas plant in similar regions of the
world.
Abstract: The characteristic bending strength (MOR) and mean
modulus of elasticity (MOE) of tropical hardwood red seraya (Shorea
spp.) plywood were determined using European Standard EN310 and
EN789. The thickness of the test specimen was 4.0mm, 7.0mm,
9.0mm, 12.0mm and 15.0mm. The experiment found that the MOR
of red seraya plywood in EN310 is about 12% to 20% and 7% to
24% higher than EN789 whereas MOE were about 28% to 41% and
30% to 36% lower than those obtained from EN 789 for test
specimens parallel and perpendicular to the grain direction. The
linear regression shows that MOR and MOE for EN789 is about 0.8
times less and 1.5 times more than EN310. The experiment also
found that the MOR and MOE of EN310 and EN789 also depend on
the wood species that used in the experiment.
Abstract: The study area receives a wide variety of wastes
generated by municipalities and the industries like paints and
pigments, metal processing industries, thermal power plants electroprocessing
industries etc. The Physico-chemical and structural
investigation of water from river Pandu indicated high level of
chlorides and calcium which made the water unsuitable for human
use. Algae like Cyclotella fumida, Asterionella Formosa,
Cladophora glomerata, Pediastrum simplex, Scenedesmus bijuga,
Cladophora glomerata were the dominant pollution tolerant species
recorded under these conditions. The sensitive and less abundant
species of algae included Spirogyra sps., Merismopedia sps. The
predominance colonies of Zygnema sps, Phormidium sps,
Mycrocystis aeruginosa, Merismopedia minima, Pandorina morum,
seems to correlate with high organic contents of Pandu river water.
This study assumes significance as some algae can be used as
bioindicators of water pollution and algal floral of a municipal drain
carrying waste effluents from industrial area Kanpur and discharge
them into the river Pandu flowing onto southern outskirts of Kanpur
city.
Abstract: This paper provides a replacement policy for warranty products with different failure rate from the consumer-s viewpoint. Assume that the product is replaced once within a finite planning horizon, and the failure rate of the second product is lower than the failure rate of the first product. Within warranty period (WP), the failed product is corrected by minimal repair without any cost to the consumers. After WP, the failed product is repaired with a fixed repair cost to the consumers. However, each failure incurs a fixed downtime cost to the consumers over a finite planning horizon. In this paper, we derive the model of the expected total disbursement cost within a finite planning horizon and some properties of the optimal replacement policy under some reasonable conditions are obtained. Finally, numerical examples are given to illustrate the features of the optimal replacement policy under various maintenance costs.
Abstract: Accurate evaluation of damping ratios involving soilstructure interaction (SSI) effects is the prerequisite for seismic design of in-situ buildings. This study proposes a combined approach to identify damping ratios of SSI systems based on ambient excitation technique. The proposed approach is illustrated with main test process, sampling principle and algorithm steps through an engineering example, as along with its feasibility and validity. The proposed approach is employed for damping ratio identification of 82 buildings in Xi-an, China. Based on the experimental data, the variation range and tendency of damping ratios of these SSI systems, along with the preliminary influence factor, are shown and discussed. In addition, a fitting curve indicates the relation between the damping ratio and fundamental natural period of SSI system.