Abstract: This paper presents the trajectory tracking control of a
spatial redundant hybrid manipulator. This manipulator consists of
two parallel manipulators which are a variable geometry truss (VGT)
module. In fact, each VGT module with 3-degress of freedom (DOF)
is a planar parallel manipulator and their operational planes of these
VGT modules are arranged to be orthogonal to each other. Also, the
manipulator contains a twist motion part attached to the top of the
second VGT module to supply the missing orientation of the endeffector.
These three modules constitute totally 7-DOF hybrid
(parallel-parallel) redundant spatial manipulator. The forward
kinematics equations of this manipulator are obtained, then,
according to these equations, the inverse kinematics is solved based
on an optimization with the joint limit avoidance. The dynamic
equations are formed by using virtual work method. In order to test
the performance of the redundant manipulator and the controllers
presented, two different desired trajectories are followed by using the
computed force control method and a switching control method. The
switching control method is combined with the computed force
control method and genetic algorithm. In the switching control
method, the genetic algorithm is only used for fine tuning in the
compensation of the trajectory tracking errors.
Abstract: During an earthquake, a bridge crane may be
subjected to multiple impacts between crane wheels and rail. In order
to model such phenomena, a time-history dynamic analysis with a
multi-scale approach is performed. The high frequency aspect of the
impacts between wheels and rails is taken into account by a Lagrange
explicit event-capturing algorithm based on a velocity-impulse
formulation to resolve contacts and impacts. An implicit temporal
scheme is used for the rest of the structure. The numerical coupling
between the implicit and the explicit schemes is achieved with a
heterogeneous asynchronous time-integrator.
Abstract: Within Vietnam's system of higher education, its
schools of business play a vital role in supporting the country’s
economic objectives. However, the crucial contribution of soft skills
for maximal success within the business sector has to date not been
adequately recognized by its business schools. This being so, the
development of the business school curriculum in Vietnam has not
been able to 'catch up', so to say, with the burgeoning need of
students for a comprehensive soft skills program designed to meet the
national and global business objectives of their potential employers.
The burden of the present paper is first to reveal the results of our
survey in Vietnam which make explicit the extent to which major
Vietnamese industrial employers’ value the potential role that soft
skill competencies can play in maximizing business success. Our
final task will be to determine which soft skills employers discern as
best serving to maximize the economic interests of Vietnam within
the global marketplace. Semi-structured telephone interviews have
been conducted with the 15 representative Head Employers of
Vietnam's reputedly largest and most successful of the diverse
business enterprises across Vietnam. The findings of the study
indicate that all respondents highly value the increasing importance
of soft skills in business success. Our critical analysis of respondent
data reveals that 19 essential soft skills are deemed by employers as
integral to business workplace efficacy and should thus be integrated
into the formal business curriculum. We are confident that our study
represents the first comprehensive and specific survey yet undertaken
within the business sector in Vietnam which accesses and analyses
the opinions of representative employers from major companies
across the country in regard to the growing importance of 19 specific
soft skills essential for maximizing overall business success. Our
research findings also reveal that the integration into business school
curriculums nationwide of the soft skills we have identified is of
paramount importance to advance the national and global economic
interests of Vietnam.
Abstract: This paper empirically investigates the relationship between Sabah state core tourism products and its destination image. Through a descriptive design using a quantitative method with a self-reported and self-administered questionnaire, this research surveyed the individual international tourists who had visited Sabah and experienced the state’s core tourism products. The research findings clearly indicate that Sabah, one of the states in Malaysia has a lot of valuable resources in the eyes of the international tourists. Interestingly, it was found that Sabah’s core tourism products namely unique marine resources, various nature attractions and cultural diversities have undoubtedly contributed to the state’s tourism image. Good feedbacks and the promising insights from the international tourists’ point of view offer varying consequences, repercussion, and implication to the state government and the relevant authorities. Collaboration and cooperation between all responsible authorities are therefore crucial in strengthening the “total tourism experience” among the international tourists in this state.
Abstract: Operators of vessel traffic service (VTS) center provides three different types of services; namely information service, navigational assistance and traffic organization to vessels. To provide these services, operators monitor vessel traffic through computer interface and provide navigational advice based on the information integrated from multiple sources, including automatic identification system (AIS), radar system, and closed circuit television (CCTV) system. Therefore, this information is crucial in VTS operation. However, what information the VTS operator actually need to efficiently and properly offer services is unclear. The aim of this study is to investigate into information requirements for VTS operation. To achieve this aim, field observation was carried out to elicit the information requirements for VTS operation. The study revealed that the most frequent and important tasks were handling arrival vessel report, potential conflict control and abeam vessel report. Current location and vessel name were used in all tasks. Hazard cargo information was particularly required when operators handle arrival vessel report. The speed, the course, and the distance of two or several vessels were only used in potential conflict control. The information requirements identified in this study can be utilized in designing a human-computer interface that takes into consideration what and when information should be displayed, and might be further used to build the foundation of a decision support system for VTS.
Abstract: This paper explains the educational timetabling problem, a type of scheduling problem that is considered as one of the most challenging problem in optimization and operational research. The university examination timetabling problem (UETP), which involves assigning a set number of exams into a set number of timeslots whilst fulfilling all required conditions, has been widely investigated. The limitation of available timeslots and resources with the increasing number of examinations are the main reasons in the difficulty of solving this problem. Dynamical change in the examination scheduling system adds up the complication particularly in coping up with the demand and new requirements by the communities. Our objective is to investigate these demands and requirements with subjects taken from Universiti Malaysia Terengganu (UMT), through questionnaires. Integer linear programming model which reflects the preferences obtained to produce an effective examination timetabling was formed.
Abstract: Modeling of hydrogen fueled engine (H2ICE) injection system is a very important tool that can be used for explaining or predicting the effect of advanced injection strategies on combustion and emissions. In this paper, a common rail injection system (CRIS) is proposed for 4-strokes 4-cylinders hydrogen fueled engine with port injection feeding system (PIH2ICE). For this system, a numerical one-dimensional gas dynamic model is developed considering single injection event for each injector per a cycle. One-dimensional flow equations in conservation form are used to simulate wave propagation phenomenon throughout the CR (accumulator). Using this model, the effect of common rail on the injection system characteristics is clarified. These characteristics include: rail pressure, sound velocity, rail mass flow rate, injected mass flow rate and pressure drop across injectors. The interaction effects of operational conditions (engine speed and rail pressure) and geometrical features (injector hole diameter) are illustrated; and the required compromised solutions are highlighted. The CRIS is shown to be a promising enhancement for PIH2ICE.
Abstract: The present study addressed the nature of bilingual semantic processing in Mandarin Chinese and Southern Min and examined category effects and age effects. Nineteen bilingual adults of Mandarin Chinese and Southern Min, nine monolingual seniors of Mandarin Chinese, and ten monolingual seniors of Southern Min in Taiwan individually completed two semantic tasks: Picture naming and category fluency tasks. The instruments for the naming task were sixty black-and-white pictures, including thirty-five object pictures and twenty-five action pictures. The category fluency task also consisted of two semantic categories – objects (or nouns) and actions (or verbs). The reaction time for each picture/question was additionally calculated and analyzed. Oral productions in Mandarin Chinese and in Southern Min were compared and discussed to examine the category effects and age effects. The results of the category fluency task indicated that the content of information of these seniors was comparatively deteriorated, and thus they produced a smaller number of semantic-lexical items. Significant group differences were also found in the reaction time results. Category effects were significant for both adults and seniors in the semantic fluency task. The findings of the present study will help characterize the nature of the bilingual semantic processing of adults and seniors, and contribute to the fields of contrastive and corpus linguistics.
Abstract: This paper explores the relationships between the basic learning processes of leading trade union workers and their methods for coping with the changes in the life-courses of societies today. It will discuss the fragile discourse on lifelong learning in trade unions and the “production of self-techniques” to get in touch with the new economic forms. On the basis of an empirical project, different processes of the socialization of leading trade union workers will be analysed to discover the consequences of the lifelong learning discourse. The results show what competences they need to develop for the “wider benefits of negotiations”. The main challenge remains to make visible how deeply intertwined trade union learning and education are with development in an ongoing dynamic economic process, rather than a quick-fix injection of skills and information. There is a complex relationship existing between the three ‘partners’, work, learning and society forming. The author suggests that contemporary trade unions could be trendsetters who make their own learning agendas by drawing less on formal education and more on informal and non-formal learning contexts. This is in parallel with growing political and scientific consciousness of the need to arrive at new educational/vocational policies and practices.
Abstract: Aerobatic and military pilots are subjected to high gravitational forces that could cause blackout, physical injuries or death. A CFD simulation using fluid-solid interactions scheme has been conducted to investigate the gravitational effects and hazards inside cerebral aneurysms. Medical data have been used to derive the size and geometry of a simple aneurysm on a T-shaped bifurcation. The results show that gravitational force has no effect on maximum Wall Shear Stress (WSS); hence, it will not cause aneurysm initiation/formation. However, gravitational force cause causes hypertension which could contribute to aneurysm rupture.
Abstract: This paper presents a zero voltage transition-zero current transition (ZVT-ZCT)-PWM DC-DC boost converter with direct power transfer. In this converter, the main switch turns on with ZVT and turns off with ZCT. The auxiliary switch turns on and off with zero current switching (ZCS). The main diode turns on with ZVS and turns off with ZCS. Besides, the additional current or voltage stress does not occur on the main device. The converter has features as simple structure, fast dynamic response and easy control. Also, the proposed converter has direct power transfer feature as well as excellent soft switching techniques. In this study, the operating principle of the converter is presented and its operation is verified for 1 kW and 100 kHz model.
Abstract: As genetic diversity is most important for existing, breeding and production of any fish; this study was undertaken for investigating genetic diversity of freshwater mud eel, Monopterus cuchia at population level where three ecological populations such as flooded area of Sylhet (P1), open water of Moulvibazar (P2) and open water of Sunamganj (P3) districts of Bangladesh were considered. Four arbitrary RAPD primers (OPB-12, C0-4, B-03 and OPB-08) were screened and RAPD banding patterns were analyzed among the populations considering 15 individuals of each population. In total 174, 138 and 149 bands were detected in the populations of P1, P2 and P3 respectively; however, each primer revealed less number of bands in each population. 100% polymorphic loci were recorded in P2 and P3 whereas only one monomorphic locus was observed in P1, recorded 97.5% polymorphism. Different genetic parameters such as inter-individual pairwise similarity, genetic distance, Nei genetic similarity, linkage distances, cluster analysis and allelic information, etc. were considered for measuring genetic diversity. The average inter-individual pairwise similarity was recorded 2.98, 1.47 and 1.35 in P1, P2 and P3 respectively. Considering genetic distance analysis, the highest distance 1 was recorded in P2 and P3 and the lowest genetic distance 0.444 was found in P2. The average Nei genetic similarity was observed 0.19, 0.16 and 0.13 in P1, P2 and P3, respectively; however, the average linkage distance was recorded 24.92, 17.14 and 15.28 in P1, P3 and P2 respectively. Based on linkage distance, genetic clusters were generated in three populations where 6 clades and 7 clusters were found in P1, 3 clades and 5 clusters were observed in P2 and 4 clades and 7 clusters were detected in P3. In addition, allelic information was observed where the frequency of p and q alleles were observed 0.093 and 0.907 in P1, 0.076 and 0.924 in P2, 0.074 and 0.926 in P3 respectively. The average gene diversity was observed highest in P2 (0.132) followed by P3 (0.131) and P1 (0.121) respectively.
Abstract: Enterprise growth is generally considered as a key driver of competitiveness, employment, economic development and social inclusion. As such, it is perceived to be a highly desirable outcome of entrepreneurship for scholars and decision makers. The huge academic debate resulted in the multitude of theoretical frameworks focused on explaining growth stages, determinants and future prospects. It has been widely accepted that enterprise growth is most likely nonlinear, temporal and related to the variety of factors which reflect the individual, firm, organizational, industry or environmental determinants of growth. However, factors that affect growth are not easily captured, instruments to measure those factors are often arbitrary, causality between variables and growth is elusive, indicating that growth is not easily modeled. Furthermore, in line with heterogeneous nature of the growth phenomenon, there is a vast number of measurement constructs assessing growth which are used interchangeably. Differences among various growth measures, at conceptual as well as at operationalization level, can hinder theory development which emphasizes the need for more empirically robust studies. In line with these highlights, the main purpose of this paper is twofold. Firstly, to compare structure and performance of three growth prediction models based on the main growth measures: Revenues, employment and assets growth. Secondly, to explore the prospects of financial indicators, set as exact, visible, standardized and accessible variables, to serve as determinants of enterprise growth. Finally, to contribute to the understanding of the implications on research results and recommendations for growth caused by different growth measures. The models include a range of financial indicators as lag determinants of the enterprises’ performances during the 2008-2013, extracted from the national register of the financial statements of SMEs in Croatia. The design and testing stage of the modeling used the logistic regression procedures. Findings confirm that growth prediction models based on different measures of growth have different set of predictors. Moreover, the relationship between particular predictors and growth measure is inconsistent, namely the same predictor positively related to one growth measure may exert negative effect on a different growth measure. Overall, financial indicators alone can serve as good proxy of growth and yield adequate predictive power of the models. The paper sheds light on both methodology and conceptual framework of enterprise growth by using a range of variables which serve as a proxy for the multitude of internal and external determinants, but are unlike them, accessible, available, exact and free of perceptual nuances in building up the model. Selection of the growth measure seems to have significant impact on the implications and recommendations related to growth. Furthermore, the paper points out to potential pitfalls of measuring and predicting growth. Overall, the results and the implications of the study are relevant for advancing academic debates on growth-related methodology, and can contribute to evidence-based decisions of policy makers.
Abstract: Wireless Sensor Networks (WSNs) have many advantages. Their deployment is easier and faster than wired sensor networks or other wireless networks, as they do not need fixed infrastructure. Nodes are partitioned into many small groups named clusters to aggregate data through network organization. WSN clustering guarantees performance achievement of sensor nodes. Sensor nodes energy consumption is reduced by eliminating redundant energy use and balancing energy sensor nodes use over a network. The aim of such clustering protocols is to prolong network life. Low Energy Adaptive Clustering Hierarchy (LEACH) is a popular protocol in WSN. LEACH is a clustering protocol in which the random rotations of local cluster heads are utilized in order to distribute energy load among all sensor nodes in the network. This paper proposes Connected Dominant Set (CDS) based cluster formation. CDS aggregates data in a promising approach for reducing routing overhead since messages are transmitted only within virtual backbone by means of CDS and also data aggregating lowers the ratio of responding hosts to the hosts existing in virtual backbones. CDS tries to increase networks lifetime considering such parameters as sensors lifetime, remaining and consumption energies in order to have an almost optimal data aggregation within networks. Experimental results proved CDS outperformed LEACH regarding number of cluster formations, average packet loss rate, average end to end delay, life computation, and remaining energy computation.
Abstract: In recent years, increasing the usage of railway transportations especially in developing countries caused more attention to control systems railway vehicles. Consequently, designing and implementing the modern control systems to improve the operating performance of trains and locomotives become one of the main concerns of researches. Dynamic braking systems is an important safety system which controls the amount of braking torque generated by traction motors, to keep the adhesion coefficient between the wheel-sets and rail road in optimum bound. Adhesion force has an important role to control the braking distance and prevent the wheels from slipping during the braking process. Cascade control structure is one of the best control methods for the wide range of industrial plants in the presence of disturbances and errors. This paper presents cascade control structure based on two forward simple controllers with two feedback loops to control the slip ratio and braking torque. In this structure, the inner loop controls the angular velocity and the outer loop control the longitudinal velocity of the locomotive that its dynamic is slower than the dynamic of angular velocity. This control structure by controlling the torque of DC traction motors, tries to track the desired velocity profile to access the predefined braking distance and to control the slip ratio. Simulation results are employed to show the effectiveness of the introduced methodology in dynamic braking system.
Abstract: This paper investigates the barriers behind the underutilisation of six sigma in Libyan manufacturing companies (LMCs). A mixed-method methodology is proposed, starting by conducting interviews to collect qualitative data followed by the development of a questionnaire to obtain quantitative data. The focus of this paper is on discussing the findings of the interview stage and how these can be used to further develop the questionnaire stage. The interview results showed that only four key barriers were highlighted as being encountered by LMCs. With a difference in terms of their significance, these factors were identified, and placed in descending order according to their importance, namely: “Lack of top management commitment”, “Lack of training”, “Lack of knowledge about six sigma”, and “Culture effect”. The findings also showed that some barriers which, were found in previous studies of six sigma implementation were not considered as barriers to LMCs but can, in fact, be considered as success factors or enablers for six sigma adoption. These factors were identified as: “sufficiency of time and financial resources”; “customers unsatisfied”; “good communication between all departments in the company”; “we are certain about its results and benefits to our company and unhappy with the current quality system”. These results suggest that LMCs face fewer barriers to adopting six sigma than many well-established global companies operating in other countries and could take advantage of these successful factors by developing and implementing a six sigma framework to improve their product quality and competitiveness.
Abstract: Organizations today need to invest in software in order to run their businesses, and to the organizations’ objectives, the software should be in line with the business process. This research presents an approach for linking process models and system models. Particularly, the new approach aims to synthesize sequence diagram based on role activity diagram (RAD) model. The approach includes four steps namely: Create business process model using RAD, identify computerized activities, identify entities in sequence diagram and identify messages in sequence diagram. The new approach has been validated using the process of student registration in University of Petra as a case study. Further research is required to validate the new approach using different domains.
Abstract: The corrosion behaviour of 316L stainless steel coatings obtained by cold spray method was investigated in this study. 316L powders were deposited onto Al5052 aluminum substrates. The coatings were produced using nitrogen (N2) process gas. In order to further improve the corrosion and mechanical properties of the coatings, heat treatment was applied at 250 and 750 °C. The corrosion performances of the coatings were compared using the potentiodynamic scanning (PDS) technique under in-vitro conditions (in Ringer’s solution at 37 °C). In addition, the hardness and porosity tests were carried out on the coatings. Microstructural characterization of the coatings was carried out by using scanning electron microscopy attached with energy dispersive spectrometer (SEM-EDS) and X-ray diffraction (XRD) technique. It was found that clean surfaces and a good adhesion were achieved for particle/substrate bonding. The heat treatment process provided both elimination of the anisotropy in the coating and resulting in healing-up of the incomplete interfaces between the deposited particles. It was found that the corrosion potential of the annealed coatings at 750 °C was higher than that of commercially 316 L stainless steel. Moreover, the microstructural investigations after the corrosion tests revealed that corrosion preferentially starts at inter-splat boundaries.
Abstract: Ever increasing population growth of major urban centers and environmental challenges in siting new landfills have resulted in a growing trend in design of mega-landfills some with extraordinary heights and dangerously steep slopes. Landfill failure mobility risk analysis is one of the most uncertain types of dynamic rheology models due to very large inherent variabilities in the heterogeneous solid waste material shear strength properties. The waste flow of three historic dumpsite and two landfill failures were back-analyzed using run-out modeling with DAN-W model. The travel distances of the waste flow during landfill failures were calculated approach by taking into account variability in material shear strength properties. The probability distribution function for shear strength properties of the waste material were grouped into four major classed based on waste material compaction (landfills versus dumpsites) and composition (high versus low quantity) of high shear strength waste materials such as wood, metal, plastic, paper and cardboard in the waste. This paper presents a probabilistic method for estimation of the spatial extent of waste avalanches, after a potential landfill failure, to create maps of vulnerability scores to inform property owners and residents of the level of the risk.
Abstract: Since the evolution of computational tools and simulation software, there has been considerable increase in research on Soil Structure Interaction (SSI) to decrease the computational time and increase accuracy in the results. To aid the designer with a proper understanding of the response of structure in different soil types, the presented paper compares the deformation, shear stress, acceleration and other parameters of multi-storey building for a specific input ground motion using Response-spectrum Analysis (RSA) method. The response of all the models of different heights have been compared in different soil types. Finite Element Simulation software, ANSYS, has been used for all the computational purposes. Overall, higher response is observed with SSI, while it increases with decreasing stiffness of soil.