Abstract: Deployment of pneumatic muscles in various
industrial applications is still in its early days, considering the relative
newness of these components. The field of robotics holds particular
future potential for pneumatic muscles, especially in view of their
specific behaviour known as compliance. The paper presents and
discusses an innovative constructive solution for a gripper system
mountable on an industrial robot, based on actuation by a linear
pneumatic muscle and transmission of motion by gear and rack
mechanism. The structural, operational and constructive models of
the new gripper are presented, along with some of the experimental
results obtained subsequently to the testing of a prototype. Further
presented are two control variants of the gripper system, one by
means of a 3/2-way fast-switching solenoid valve, the other by means
of a proportional pressure regulator. Advantages and disadvantages
are discussed for both variants.
Abstract: Sensory input plays an important role to human
posture control system to initiate strategy in order to counterpart any
unbalance condition and thus, prevent fall. In previous study, joint
stiffness was observed able to describe certain issues regarding to
movement performance. But, correlation between balance ability and
joint stiffness is still remains unknown. In this study, joint stiffening
strategy at ankle and hip were observed under different sensory
manipulations and its correlation with conventional clinical test
(Functional Reach Test) for balance ability was investigated. In order
to create unstable condition, two different surface perturbations (tilt
up-tilt (TT) down and forward-backward (FB)) at four different
frequencies (0.2, 0.4, 0.6 and 0.8 Hz) were introduced. Furthermore,
four different sensory manipulation conditions (include vision and
vestibular system) were applied to the subject and they were asked to
maintain their position as possible. The results suggested that joint
stiffness were high during difficult balance situation. Less balance
people generated high average joint stiffness compared to balance
people. Besides, adaptation of posture control system under repetitive
external perturbation also suggested less during sensory limited
condition. Overall, analysis of joint stiffening response possible to
predict unbalance situation faced by human
Abstract: In this study, an optimization of supersonic air-to-air ejector is carried out by a recently developed single-objective genetic algorithm based on adaption of sequence of individuals. Adaptation of sequence is based on Shape-based distance of individuals and embedded micro-genetic algorithm. The optimal sequence found defines the succession of CFD-aimed objective calculation within each generation of regular micro-genetic algorithm. A spring-based deformation mutates the computational grid starting the initial individualvia adapted population in the optimized sequence. Selection of a generation initial individual is knowledge-based. A direct comparison of the newly defined and standard micro-genetic algorithm is carried out for supersonic air-to-air ejector. The only objective is to minimize the loose of total stagnation pressure in the ejector. The result is that sequence-adopted micro-genetic algorithm can provide comparative results to standard algorithm but in significantly lower number of overall CFD iteration steps.
Abstract: The voltage/current characteristics and the effect of
NO2 gas on the electrical conductivity of a PbPc gas sensor array is
investigated. The gas sensor is manufactured using vacuum
deposition of gold electrodes on sapphire substrate with the leadphathalocyanine
vacuum sublimed on the top of the gold electrodes.
Two versions of the PbPc gas sensor array are investigated. The
tested types differ in the gap sizes between the deposited gold
electrodes. The sensors are tested at different temperatures to account
for conductivity changes as the molecular adsorption/desorption rate
is affected by heat. The obtained results found to be encouraging as
the sensors shoed stability and sensitivity towards low concentration
of applied NO2 gas.
Abstract: All the available algorithms for blind estimation namely constant modulus algorithm (CMA), Decision-Directed Algorithm (DDA/DFE) suffer from the problem of convergence to local minima. Also, if the channel drifts considerably, any DDA looses track of the channel. So, their usage is limited in varying channel conditions. The primary limitation in such cases is the requirement of certain overhead bits in the transmit framework which leads to wasteful use of the bandwidth. Also such arrangements fail to use channel state information (CSI) which is an important aid in improving the quality of reception. In this work, the main objective is to reduce the overhead imposed by the pilot symbols, which in effect reduces the system throughput. Also we formulate an arrangement based on certain dynamic Artificial Neural Network (ANN) topologies which not only contributes towards the lowering of the overhead but also facilitates the use of the CSI. A 2×2 Multiple Input Multiple Output (MIMO) system is simulated and the performance variation with different channel estimation schemes are evaluated. A new semi blind approach based on dynamic ANN is proposed for channel tracking in varying channel conditions and the performance is compared with perfectly known CSI and least square (LS) based estimation.
Abstract: Transmission and distribution lines are vital links between the generating unit and consumers. They are exposed to atmosphere, hence chances of occurrence of fault in transmission line is very high which has to be immediately taken care of in order to minimize damage caused by it. In this paper Discrete wavelet transform of voltage signals at the two ends of transmission lines have been analyzed. The transient energy of the detail information of level five is calculated for different fault conditions. It is observed that the variation of transient energy of healthy and faulted line can give important information which can be very useful in classifying and locating the fault.
Abstract: Soil microbial activity is adversely affected by pollutants such as heavy metals, antibiotics and pesticides. Organic amendments including sewage sludge, municipal compost and vermicompost are recently used to improve soil structure and fertility. But, these materials contain heavy metals including Pb, Cd, Zn, Ni and Cu that are toxic to soil microorganisms and may lead to occurrence of more tolerant microbes. Among these, Pb is the most abundant and has more negative effect on soil microbial ecology. In this study, Pb levels of 0, 100, 200, 300, 400 and 500 mg Pb [as Pb(NO3)2] per kg soil were added to the pots containing 2 kg of a loamy soil and incubated for 6 months at 25°C with soil moisture of - 0.3 MPa. Dehydrogenase activity of soil as a measure of microbial activity was determined on 15, 30, 90 and 180 days after incubation. Triphenyl tetrazolium chloride (TTC) was used as an electron acceptor in this assay. PICTs (IC50 values) were calculated for each Pb level and incubation time. Soil microbial activity was decreased by increasing Pb level during 30 days of incubation but the induced tolerance appeared on day 90 and thereafter. During 90 to 180 days of incubation, the PICT was gradually developed by increasing Pb level up to 200 mg kg-1, but the rate of enhancement was steeper at higher concentrations.
Abstract: In this work, Experimental tie-line results and
solubility (binodal) curves were obtained for the ternary systems
(water + acetic acid + methyl isobutyl ketone (MIBK)), (water +
lactic acid+ methyl isobutyl ketone) at T = 294.15K and atmospheric
pressure. The consistency of the values of the experimental tie-lines
was determined through the Othmer-Tobias and Hands correlations.
For the extraction effectiveness of solvents, the distribution and
selectivity curves were plotted. In addition, these experimental tieline
data were also correlated with NRTL model. The interaction
parameters for the NRTL model were retrieved from the obtained
experimental results by means of a combination of the homotopy
method and the genetic algorithms.
Abstract: In this article, we expose our research work in
Human-machine Interaction. The research consists in manipulating
the workspace by eyes. We present some of our results, in particular
the detection of eyes and the mouse actions recognition. Indeed, the
handicaped user becomes able to interact with the machine in a more
intuitive way in diverse applications and contexts. To test our
application we have chooses to work in real time on videos captured
by a camera placed in front of the user.
Abstract: Designing a simulated system and training it to optimize its tasks in simulated environment helps the designers to avoid problems that may appear when designing the system directly in real world. These problems are: time consuming, high cost, high errors percentage and low efficiency and accuracy of the system. The proposed system will investigate and improve the efficiency and accuracy of a simulated robot to choose correct behavior to perform its task. In this paper, machine learning, which uses genetic algorithm, is adopted. This type of machine learning is called genetic-based machine learning in which a distributed classifier system is used to improve the efficiency and accuracy of the robot. Consequently, it helps the robot to achieve optimal action.
Abstract: In molecular biology, microarray technology is widely and successfully utilized to efficiently measure gene activity. If working with less studied organisms, methods to design custom-made microarray probes are available. One design criterion is to select probes with minimal melting temperature variances thus ensuring similar hybridization properties. If the microarray application focuses on the investigation of metabolic pathways, it is not necessary to cover the whole genome. It is more efficient to cover each metabolic pathway with a limited number of genes. Firstly, an approach is presented which minimizes the overall melting temperature variance of selected probes for all genes of interest. Secondly, the approach is extended to include the additional constraints of covering all pathways with a limited number of genes while minimizing the overall variance. The new optimization problem is solved by a bottom-up programming approach which reduces the complexity to make it computationally feasible. The new method is exemplary applied for the selection of microarray probes in order to cover all fungal secondary metabolite gene clusters for Aspergillus terreus.
Abstract: The limit load carrying capacity of functionally
graded materials (FGM) circular plates subjected to an arbitrary
rotationally symmetric loading has been computed. It is provided that
the plate material behaves rigid perfectly plastic and obeys either the
Square or the Tresca yield criterion. To this end the upper and lower
bound principles of limit analysis are employed to determine the
exact value for the limiting load. The correctness of the result are
verified and finally limiting loads for two examples namely; through
radius and through thickness FGM circular plates with simply
supported edges are calculated, respectively and moreover, the values
of critical loading factor are determined.
Abstract: Vernacular building is considered as sustainable in
energy consumption and environment and its thermal performance is
more and more concerned by researchers. This paper investigates the
thermal property of the vernacular building in Lhasa by theoretical
analysis on the aspects of building form, envelope and materials etc.
The values of thermal resistance and thermal capacity of the envelope
are calculated and compared with the current China building code and
modern building case. And it is concluded that Lhasa vernacular
building meets the current China building code of thermal standards
and have better performance in some aspects, which is achieved by
various passive means with close response to local climate conditions.
Abstract: The scientific achievements coming from molecular
biology depend greatly on the capability of computational
applications to analyze the laboratorial results. A comprehensive
analysis of an experiment requires typically the simultaneous study
of the obtained dataset with data that is available in several distinct
public databases. Nevertheless, developing a centralized access to
these distributed databases rises up a set of challenges such as: what
is the best integration strategy, how to solve nomenclature clashes,
how to solve database overlapping data and how to deal with huge
datasets. In this paper we present GeNS, a system that uses a simple and yet innovative approach to address several biological data integration issues. Compared with existing systems, the main
advantages of GeNS are related to its maintenance simplicity and to its coverage and scalability, in terms of number of supported
databases and data types. To support our claims we present the current use of GeNS in two concrete applications. GeNS currently contains more than 140 million of biological relations and it can be
publicly downloaded or remotely access through SOAP web services.
Abstract: A talking head system (THS) is presented to animate
the face of a speaking 3D avatar in such a way that it realistically
pronounces the given Korean text. The proposed system consists of
SAPI compliant text-to-speech (TTS) engine and MPEG-4 compliant
face animation generator. The input to the THS is a unicode text that is
to be spoken with synchronized lip shape. The TTS engine generates a
phoneme sequence with their duration and audio data. The TTS
applies the coarticulation rules to the phoneme sequence and sends a
mouth animation sequence to the face modeler. The proposed THS can
make more natural lip sync and facial expression by using the face
animation generator than those using the conventional visemes only.
The experimental results show that our system has great potential for
the implementation of talking head for Korean text.
Abstract: The objective of present work is to stimulate the
machining of material by electrical discharge machining (EDM) to
give effect of input parameters like discharge current (Ip), pulse on
time (Ton), pulse off time (Toff) which can bring about changes in the
output parameter, i.e. material removal rate. Experimental data was
gathered from die sinking EDM process using copper electrode and
Medium Carbon Steel (AISI 1040) as work-piece. The rules of
membership function (MF) and the degree of closeness to the
optimum value of the MMR are within the upper and lower range of
the process parameters. It was found that proposed fuzzy model is in
close agreement with the experimental results. By Intelligent, model
based design and control of EDM process parameters in this study
will help to enable dramatically decreased product and process
development cycle times.
Abstract: The paper discusses a 3D numerical solution of the inverse boundary problem for a continuous casting process of alloy. The main goal of the analysis presented within the paper was to estimate heat fluxes along the external surface of the ingot. The verified information on these fluxes was crucial for a good design of a mould, effective cooling system and generally the whole caster. In the study an enthalpy-porosity technique implemented in Fluent package was used for modeling the solidification process. In this method, the phase change interface was determined on the basis of the liquid fraction approach. In inverse procedure the sensitivity analysis was applied for retrieving boundary conditions. A comparison of the measured and retrieved values showed a high accuracy of the computations. Additionally, the influence of the accuracy of measurements on the estimated heat fluxes was also investigated.
Abstract: The present study is aim to prepare and evaluate the selfnanoemulsifying drug delivery (SNEDDS) system of a poorly water soluble drug valsartan in order to achieve a better dissolution rate which would further help in enhancing oral bioavailability. The present research work describes a SNEDDS of valsartan using labrafil M 1944 CS, Tween 80 and Transcutol HP. The pseudoternary phase diagrams with presence and absence of drug were plotted to check for the emulsification range and also to evaluate the effect of valsartan on the emulsification behavior of the phases. The mixtures consisting of oil (labrafil M 1944 CS) with surfactant (tween 80), co-surfactant (Transcutol HP) were found to be optimum formulations. Prepared formulations were evaluated for its particle size distribution, nanoemulsifying properties, robustness to dilution, self emulsication time, turbidity measurement, drug content and invitro dissolution. The optimized formulations are further evaluated for heating cooling cycle, centrifugation studies, freeze thaw cycling, particle size distribution and zeta potential were carried out to confirm the stability of the formed SNEDDS formulations. The prepared formulation revealed t a significant improvement in terms of the drug solubility as compared with marketed tablet and pure drug.
Abstract: The phase diagrams and compositions of coexisting
phases have been determined for aqueous two-phase systems
containing poly(propylene glycol) with average molecular weight of
425 and sodium citrate at various pH of 3.93, 4.44, 4.6, 4.97, 5.1,
8.22. The effect of pH on the salting-out effect of poly (propylene
glycol) by sodium citrate has been studied. It was found that, an
increasing in pH caused the expansion of two-phase region.
Increasing pH also increases the concentration of PPG in the PPGrich
phase, while the salt-rich phase will be somewhat mole diluted.
Abstract: This paper uses quasi-steady molecular statics model
and diamond tool to carry out simulation temperature rise of nanoscale
orthogonal cutting single-crystal silicon. It further qualitatively
analyzes temperature field of silicon workpiece without considering
heat transfer and considering heat transfer. This paper supposes that
the temperature rise of workpiece is mainly caused by two heat sources:
plastic deformation heat and friction heat. Then, this paper develops a
theoretical model about production of the plastic deformation heat and
friction heat during nanoscale orthogonal cutting. After the increased
temperature produced by these two heat sources are added up, the
acquired total temperature rise at each atom of the workpiece is
substituted in heat transfer finite difference equation to carry out heat
transfer and calculates the temperature field in each step and makes
related analysis.