Abstract: This paper presents an Extended Kaman Filter
implementation of a single-camera Visual Simultaneous Localization
and Mapping algorithm, a novel algorithm for simultaneous
localization and mapping problem widely studied in mobile robotics
field. The algorithm is vision and odometry-based, The odometry
data is incremental, and therefore it will accumulate error over time,
since the robot may slip or may be lifted, consequently if the
odometry is used alone we can not accurately estimate the robot
position, in this paper we show that a combination of odometry and
visual landmark via the extended Kalman filter can improve the robot
position estimate. We use a Pioneer II robot and motorized pan tilt
camera models to implement the algorithm.
Abstract: The present study attempted to improve the Mercury
(Hg) sorption capacity of kanuma volcanic ash soil (KVAS) by
impregnating the cupper (Cu). Impregnation was executed by 1 and
5% Cu powder and sorption characterization of optimum Hg
removing Cu impregnated KVAS was performed under different
operational conditions, contact time, solution pH, sorbent dosage and
Hg concentration using the batch operation studies. The 1% Cu
impregnated KVAS pronounced optimum improvement (79%) in
removing Hg from water compare to control. The present
investigation determined the equilibrium state of maximum Hg
adsorption at 6 h contact period. The adsorption revealed a pH
dependent response and pH 3.5 showed maximum sorption capacity
of Hg. Freundlich isotherm model is well fitted with the experimental
data than that of Langmuir isotherm. It can be concluded that the Cu
impregnation improves the Hg sorption capacity of KVAS and 1%
Cu impregnated KVAS could be employed as cost-effective
adsorbent media for treating Hg contaminated water.
Abstract: This study was designed to investigate the role of serum nitric oxide and sialic acid in the development of diabetic nephropathy as disease marker. Total 210 diabetic patients (age and sex matched) were selected followed by informed consent and divided into four groups (70 each) as I: control; II: diabetic; III: diabetic hypertensive; IV: diabetic nephropathy. The blood samples of all subjects were collected and analyzed for serum nitric oxide, sialic acid, fasting blood glucose, serum urea, creatinine, HbA1c and GFR. The BMI, systolic and diastolic blood pressures, blood glucose, HbA1c and serum sialic acid levels were high (p
Abstract: Organochlorine pesticides (OCPs) are known to be
persistent and bioaccumulative toxicants that may cause reproductive
impairments in wildlife as well as human. The current study uses the
snail-eating turtle Malayemys macrocephala, a long-lived animal
commonly distribute in rice field habitat in central part of Thailand,
as a sentinel to monitor OCP contamination in environment. The
nest soil, complete clutch of eggs, and blood of the turtle were
collected from agricultural areas in the Chao Phraya River Basin,
Thailand during the nesting season of 2007-2008. The novel
methods for tissue extraction by an accelerated solvent extractor
(ASE, for egg) and liquid-liquid extraction (for blood) have been
developed. The nineteen OCP residues were analyzed by gas
chromatography with micro-electron captured detector (GC-μECD).
The validated methods have met requirements of the AOAC
standard. The results indicated that significant amounts of OCPs are
still contaminated in nest soil and eggs of the turtle even though the
OCPs had been banned in this area for many years. This suggested
the potential risk to health of wildlife as well as human in the area.
Abstract: In this paper we discuss a set of guidelines which
could be adapted when designing an audio user interface for the
visually impaired. It is based on an audio environment that is
focused on audio positioning. Unlike current applications which only
interpret Graphical User Interface (GUI) for the visually impaired,
this particular audio environment bypasses GUI to provide a direct
auditory output. It presents the capability of two dimensional (2D)
navigation on audio interfaces. This paper highlights the significance
of a 2D audio environment with spatial information in the context
of the visually impaired. A thorough usability study has been conducted
to prove the applicability of proposed design guidelines for
these auditory interfaces. While proving these guidelines, previously
unearthed design aspects have been revealed in this study.
Abstract: In this article we present a methodology which
enables preschool and primary school unlanguaged children to
remember words, phrases and texts with the help of graphic signs -
letters, syllables and words. Reading for a child becomes a support
for speech development. Teaching is based on the principle "from
simple to complex", "a letter - a syllable - a word - a proposal - a
text." Availability of multi-level texts allows using this methodology
for working with children who have different levels of speech
development.
Abstract: A pilot project was carried out in 2007 by the senior
students of Cyprus International University, aiming to minimize the
total cost of waste collection in Northern Cyprus. Many developed
and developing countries have cut their transportation costs – which
lies between 30-40% – down at a rate of 40% percent, by
implementing network models for their route assignments.
Accordingly, a network model was implemented at Göçmenköy
district, to optimize and standardize waste collection works. The
work environment of the employees were also redesigned to provide
maximum ergonomy and to increase productivity, efficiency and
safety. Following the collection of the required data including waste
densities, lengths of roads and population, a model was constructed
to allocate the optimal route assignment for the waste collection
trucks at Göçmenköy district.
Abstract: Caching was suggested as a solution for reducing bandwidth utilization and minimizing query latency in mobile environments. Over the years, different caching approaches have been proposed, some relying on the server to broadcast reports periodically informing of the updated data while others allowed the clients to request for the data whenever needed. Until recently a hybrid cache consistency scheme Scalable Asynchronous Cache Consistency Scheme SACCS was proposed, which combined the two different approaches benefits- and is proved to be more efficient and scalable. Nevertheless, caching has its limitations too, due to the limited cache size and the limited bandwidth, which makes the implementation of cache replacement strategy an important aspect for improving the cache consistency algorithms. In this thesis, we proposed a new cache replacement strategy, the Least Unified Value strategy (LUV) to replace the Least Recently Used (LRU) that SACCS was based on. This paper studies the advantages and the drawbacks of the new proposed strategy, comparing it with different categories of cache replacement strategies.
Abstract: In this paper a novel high output impedance, low input impedance, wide bandwidth, very simple current mirror with input and output voltage requirements less than that of a simple current mirror is presented. These features are achieved with very simple structure avoiding extra large node impedances to ensure high bandwidth operation. The circuit's principle of operation is discussed and compared to simple and low voltage cascode (LVC) current mirrors. Such outstanding features of this current mirror as high output impedance ~384K, low input impedance~6.4, wide bandwidth~178MHz, low input voltage ~ 362mV, low output voltage ~ 38mV and low current transfer error ~4% (all at 50μA) makes it an outstanding choice for high performance applications. Simulation results in BSIM 0.35μm CMOS technology with HSPICE are given in comparison with simple, and LVC current mirrors to verify and validate the performance of the proposed current mirror.
Abstract: The fractal-shaped orifices are assumed to have a
significant effect on the pressure drop downstream pipe flow due to
their edge self-similarity shape which enhances the mixing
properties. Here, we investigate the pressure drop after these fractals
using a digital micro-manometer at different stations downstream a
turbulent flow pipe then a direct comparison has been made with the
pressure drop measured from regular orifices with the same flow
area. Our results showed that the fractal-shaped orifices have a
significant effect on the pressure drop downstream the flow. Also
the pressure drop measured across the fractal-shaped orifices is
noticed to be lower that that from ordinary orifices of the same flow
areas. This result could be important in designing piping systems
from point of view of losses consideration with the same flow
control area. This is promising to use the fractal-shaped orifices as
flowmeters as they can sense the pressure drop across them
accurately with minimum losses than the regular ones.
Abstract: Domain-specific languages describe specific solutions to problems in the application domain. Traditionally they form a solution composing black-box abstractions together. This, usually, involves non-deep transformations over the target model. In this paper we argue that it is potentially powerful to operate with grey-box abstractions to build a domain-specific software system. We present parametric code templates as grey-box abstractions and conceptual tools to encapsulate and manipulate these templates. Manipulations introduce template-s merging routines and can be defined in a generic way. This involves reasoning mechanisms at the code templates level. We introduce the concept of Neurath Modelling Language (NML) that operates with parametric code templates and specifies a visualisation mapping mechanism for target models. Finally we provide an example of calculating a domain-specific software system with predefined NML elements.
Abstract: Two-phase frictional pressure drop data were
obtained for condensation of carbon dioxide in single horizontal
micro tube of inner diameter ranged from 0.6 mm up to 1.6 mm over
mass flow rates from 2.5*10-5 to 17*10-5 kg/s and vapor qualities
from 0.0 to 1.0. The inlet condensing pressure is changed from 33.5
to 45 bars. The saturation temperature ranged from -1.5 oC up to 10
oC. These data have then been compared against three (two-phase)
frictional pressure drop prediction methods. The first method is by
Muller-Steinhagen and Heck (Muller-Steinhagen H, Heck K. A
simple friction pressure drop correlation for two-phase flow in pipes.
Chem. Eng. Process 1986;20:297–308) and that by Gronnerud R.
Investigation of liquid hold-up, flow-resistance and heat transfer in
circulation type evaporators, part IV: two-phase flow resistance in
boiling refrigerants, Annexe 1972. Then the method used by
FriedelL. Improved friction pressures drop in horizontal and vertical
two-phase pipe flow. European Two-Phase Flow Group Meeting,
Paper E2; 1979 June, Ispra, Italy. The methods are used by M.B Ould
Didi et al (2001) “Prediction of two-phase pressure gradients of
refrigerant in horizontal tubes". Int.J.of Refrigeration 25(2002) 935-
947. The best available method for annular flow was that of Muller-
Steinhagen and Heck. It was observed that the peak in the two-phase
frictional pressure gradient is at high vapor qualities.
Abstract: The current trend of increasing quality and demands
of the final product is affected by time analysis of the entire
manufacturing process. The primary requirement of manufacturing is
to produce as many products as soon as possible, at the lowest
possible cost, but of course with the highest quality. Such
requirements may be satisfied only if all the elements entering and
affecting the production cycle are in a fully functional condition.
These elements consist of sensory equipment and intelligent control
elements that are essential for building intelligent manufacturing
systems. The intelligent manufacturing paradigm includes a new
approach to production system structure design. Intelligent behaviors
are based on the monitoring of important parameters of system and
its environment. The flexible reaction to changes. The realization and
utilization of this design paradigm as an "intelligent manufacturing
system" enables the flexible system reaction to production
requirement as soon as environmental changes too. Results of these
flexible reactions are a smaller layout space, be decreasing of
production and investment costs and be increasing of productivity.
Intelligent manufacturing system itself should be a system that can
flexibly respond to changes in entering and exiting the process in
interaction with the surroundings.
Abstract: The Neuro-Fuzzy hybridization scheme has become
of research interest in pattern classification over the past decade. The
present paper proposes a novel Modified Adaptive Fuzzy Inference
Engine (MAFIE) for pattern classification. A modified Apriori
algorithm technique is utilized to reduce a minimal set of decision
rules based on input output data sets. A TSK type fuzzy inference
system is constructed by the automatic generation of membership
functions and rules by the fuzzy c-means clustering and Apriori
algorithm technique, respectively. The generated adaptive fuzzy
inference engine is adjusted by the least-squares fit and a conjugate
gradient descent algorithm towards better performance with a
minimal set of rules. The proposed MAFIE is able to reduce the
number of rules which increases exponentially when more input
variables are involved. The performance of the proposed MAFIE is
compared with other existing applications of pattern classification
schemes using Fisher-s Iris and Wisconsin breast cancer data sets and
shown to be very competitive.
Abstract: This study was aimed for investigating of
manufacturing high aluminum content Mg alloys using a horizontal
twin roll caster. Recently, weight saving has been key issues for lighter
transport equipments as well as electronic component parts. As
alternative materials to aluminum alloys, developing magnesium alloy
with higher strength has been expected. Normally high Aluminum
content Mg alloy has poor ductility and is difficult to be rolled because
of its high strength. However, twin roll casting process is suitable for
manufacturing wrought Mg alloys because materials can be cast
directly from molten metal. In this study, manufacturing of high
aluminum content magnesium alloy sheet using the roll casting
process has been carried out. Effects of manufacturing parameter, such
as roll velocity, pouring temperature and roll gap, on casting was
investigated. A microscopic observation of the crystals of cross section
of as cast strip as well as rolled strip was conducted.
Abstract: The aim of this paper is to present current and future
procedures in castings procurement. Differences in procurement are
highlighted. The supplier selection criteria used in practice is
compared to literature findings. Different trends related to supply
chains are presented and it is described how they are reflected in
reality to castings procurement. To fulfil the aim, interviews were
conducted in nine companies using castings. It was found that largest
casting users have the most subcontractor foundries and it is more
typical that they have multiple suppliers for the same parts. Currently
only two companies out of nine purchase castings outside Europe,
but the others are also progressing in the same direction. The main
reason is the need to lower purchasing costs. Another trend is that all
companies want to buy cast components or sub-assemblies instead of
raw castings from foundries. It was found that price is a main
supplier selection criterion. All companies use competitive bidding in
supplier selection.
Abstract: Ten percent of the population will develop plantar
fasciitis (PF) during their lifetime. Two million people are treated
yearly accounting for 11-15% of visits to medical professionals.
Treatment ranges from conservative to surgical intervention. The
purpose of this study was to assess the effects of extracorporeal
shockwave therapy (ECSWT) on heel pain, function, range of motion
(ROM), and strength in patients with PF. One hundred subjects were
treated with ECSWT and measures were taken before and three
months after treatment. There was significant differences in visual
analog scale scores for pain at rest (p=0.0001); after activity (p=
0.0001) and; overall improvement (p=0.0001). There was also
significant improvement in Lower Extremity Functional Scale scores
(p=0.0001); ankle plantarflexion (p=0.0001), dorsiflexion (p=0.001),
and eversion (p=0.017),and first metatarsophalangeal joint flexion
(p=0.002) and extension (p=0.003) ROM. ECSWT is an effective
treatment improving heel pain, function and ROM in patients with
PF.
Abstract: The article analyses historical aspects of the formation
of the Kazakh nation in the conditions of the multicultural society.
The authors underline cultural integration as a significant stage of the
cultural advancement of the Kazakh nation. The transition to the
modern-style houses, the adoption and development of the secular
education gave a rise to the development of the society and culture
on the whole.
Abstract: The shortest path routing problem is a multiobjective nonlinear optimization problem with constraints. This problem has been addressed by considering Quality of service parameters, delay and cost objectives separately or as a weighted sum of both objectives. Multiobjective evolutionary algorithms can find multiple pareto-optimal solutions in one single run and this ability makes them attractive for solving problems with multiple and conflicting objectives. This paper uses an elitist multiobjective evolutionary algorithm based on the Non-dominated Sorting Genetic Algorithm (NSGA), for solving the dynamic shortest path routing problem in computer networks. A priority-based encoding scheme is proposed for population initialization. Elitism ensures that the best solution does not deteriorate in the next generations. Results for a sample test network have been presented to demonstrate the capabilities of the proposed approach to generate well-distributed pareto-optimal solutions of dynamic routing problem in one single run. The results obtained by NSGA are compared with single objective weighting factor method for which Genetic Algorithm (GA) was applied.
Abstract: Data warehousing success is not high enough. User
dissatisfaction and failure to adhere to time frames and budgets are
too common. Most traditional information systems practices are
rooted in hard systems thinking. Today, the great systems thinkers
are forgotten by information systems developers. A data warehouse
is still a system and it is worth investigating whether systems
thinkers such as Churchman can enhance our practices today. This
paper investigates data warehouse development practices from a
systems thinking perspective. An empirical investigation is done in
order to understand the everyday practices of data warehousing
professionals from a systems perspective. The paper presents a
model for the application of Churchman-s systems approach in data
warehouse development.