Abstract: The paper presents the design of a mini-UAV attitude
controller using the backstepping method. Starting from the nonlinear
dynamic equations of the mini-UAV, by using the backstepping
method, the author of this paper obtained the expressions of the
elevator, rudder and aileron deflections, which stabilize the UAV, at
each moment, to the desired values of the attitude angles. The attitude
controller controls the attitude angles, the angular rates, the angular
accelerations and other variables that describe the UAV longitudinal
and lateral motions. To design the nonlinear controller, by using the
backstepping technique, the nonlinear equations and the Lyapunov
analysis have been directly used. The designed controller has been
implemented in Matlab/Simulink environment and its effectiveness
has been tested with a campaign of numerical simulations using data
from the UAV flight tests. The obtained results are very good and
they are better than the ones found in previous works.
Abstract: This work deals with the design of the robotic assembly
system for the roller clamps. The task is characterized by high speed,
high yield and safety engagement. This paper describes the design of
different parts of an automated high speed machine to assemble the
parts of roller clamps. The roller clamp robotic assembly system
performs various processes in the assembly line which include clamp
body and roller feeding, inserting the roller into the clamp body, and
dividing the rejected clamp and successfully assembled clamp into
their own tray. The electrical/electronics design of the machine is
discussed. The target is to design a cost effective, minimum
maintenance and high speed machine for the industry applications.
Abstract: In this paper a polymer electrolyte membrane (PEM)
fuel cell power system including burner, steam reformer, heat
exchanger and water heater has been considered to meet the
electrical, heating, cooling and domestic hot water loads of
residential building which in Tehran. The system uses natural gas as
fuel and works in CHP mode. Design and operating conditions of a
PEM fuel cell system is considered in this study. The energy
requirements of residential building and the number of fuel cell
stacks to meet them have been estimated. The method involved
exergy analysis and entropy generation thorough the months of the
year. Results show that all the energy needs of the building can be
met with 12 fuel cell stacks at a nominal capacity of 8.5 kW. Exergy
analysis of the CHP system shows that the increase in the ambient air
temperature from 1oC to 40oC, will have an increase of entropy
generation by 5.73%.Maximum entropy generates for 15 hour in 15th
of June and 15th of July is estimated to amount at 12624 (kW/K).
Entropy generation of this system through a year is estimated to
amount to 1004.54 GJ/k.year.
Abstract: Evolvable hardware (EHW) refers to a selfreconfiguration
hardware design, where the configuration is under
the control of an evolutionary algorithm (EA). A lot of research has
been done in this area several different EA have been introduced.
Every time a specific EA is chosen for solving a particular problem,
all its components, such as population size, initialization, selection
mechanism, mutation rate, and genetic operators, should be selected
in order to achieve the best results. In the last three decade a lot of
research has been carried out in order to identify the best parameters
for the EA-s components for different “test-problems". However
different researchers propose different solutions. In this paper the
behaviour of mutation rate on (1+λ) evolution strategy (ES) for
designing logic circuits, which has not been done before, has been
deeply analyzed. The mutation rate for an EHW system modifies
values of the logic cell inputs, the cell type (for example from AND
to NOR) and the circuit output. The behaviour of the mutation has
been analyzed based on the number of generations, genotype
redundancy and number of logic gates used for the evolved circuits.
The experimental results found provide the behaviour of the mutation
rate to be used during evolution for the design and optimization of
logic circuits. The researches on the best mutation rate during the last
40 years are also summarized.
Abstract: This paper invites to dialogue and reflections on
innovation and entrepreneurship by presenting concepts of innovation
leading to the introduction of a complex theoretical framework;
Cooperative Innovation (CO-IN). CO-IN is a didactic model
enhancing and scaffolding processes of cooperation creating
innovation drawing on a Scandinavian tradition.
CO-IN is based on a cross-sectorial and multidisciplinary
approach. We introduce the concept of complementarity to help
capture the validity of diversity and we suggest the concept of “the
space in between" to understand the creation of identity as a
collective mind. We see dialogue and the use of multi modal
techniques as essential tools for conceptualizations giving possibility
for clarification of the complexity and diversity leading to decision
making based on knowledge as commons.
We introduce the didactic design and present our empirical
findings from an innovation workshop in Argentina. In a final
paragraph we reflect on the design as a support of the development of
common ground, collective mind and collective action and the
creation of knowledge as commons to facilitate innovation and
entrepreneurship.
Abstract: The overriding goal of software engineering is to
provide a high quality system, application or a product. To achieve
this goal, software engineers must apply effective methods coupled
with modern tools within the context of a mature software process
[2]. In addition, it is also must to assure that high quality is realized.
Although many quality measures can be collected at the project
levels, the important measures are errors and defects. Deriving a
quality measure for reusable components has proven to be
challenging task now a days. The results obtained from the study are
based on the empirical evidence of reuse practices, as emerged from
the analysis of industrial projects. Both large and small companies,
working in a variety of business domains, and using object-oriented
and procedural development approaches contributed towards this
study. This paper proposes a quality metric that provides benefit at
both project and process level, namely defect removal efficiency
(DRE).
Abstract: Our results showed that treatment with both
cyclooxygenase (COX1 or COX2) inhibitors impair reproduction
parameters of the medaka. Resveratrol (COX1 inhibitor) caused an
decrease in the number of spawning females at the first week of
feeding fish with experimental diets. In the group treated with NS-
398 (COX2 inhibitor) we found the lowest sperm velocity parameters
and decreased linearity of movement. The ovaries of the medaka fed
feed supplemented with Resveratrol or NS-398 were confirmed to
have a lower share of matured oocytes however during the
experiment (four weeks) the number of eggs spawned by females was
similar. Both inhibitors in fish diet (20 mg/kg body weight/day)
caused a decrease in the embryo survival. Our results revealed that
for the medaka female reproduction, activity of both COX enzymes
might be necessary whereas males reproduction competence, as
expressed by sperm motility parameters, might be related to COX2
activity.
Abstract: High pressure adsorption of carbon dioxide on zeolite
13X was investigated in the pressure range (0 to 4) Mpa and
temperatures 298, 308 and 323K. The data fitting is accomplished
with the Toth, UNILAN, Dubinin-Astakhov and virial adsorption
models which are generally used for micro porous adsorbents such as
zeolites. Comparison with experimental data from the literature
indicated that the virial model would best determine results. These
results may be partly attributed to the flexibility of the virial model
which can accommodate as many constants as the data warrants.
Abstract: The objective of the paper is twofold. First, to develop a
formal framework for planning for mobile agents. A logical language
based on a temporal logic is proposed that can express a type of
tasks which often arise in network management. Second, to design a
planning algorithm for such tasks. The aim of this paper is to study
the importance of finding plans for mobile agents. Although there
has been a lot of research in mobile agents, not much work has been
done to incorporate planning ideas for such agents. This paper makes
an attempt in this direction. A theoretical study of finding plans for
mobile agents is undertaken. A planning algorithm (based on the
paradigm of mobile computing) is proposed and its space, time, and
communication complexity is analyzed. The algorithm is illustrated
by working out an example in detail.
Abstract: This work is focused on the numerical prediction of the fracture resistance of a flat stiffened panel made of the aluminium alloy 2024 T3 under a monotonic traction condition. The performed numerical simulations have been based on the micromechanical Gurson-Tvergaard (GT) model for ductile damage. The applicability of the GT model to this kind of structural problems has been studied and assessed by comparing numerical results, obtained by using the WARP 3D finite element code, with experimental data available in literature. In the sequel a home-made procedure is presented, which aims to increase the residual strength of a cracked stiffened aluminum panel and which is based on the stochastic design improvement (SDI) technique; a whole application example is then given to illustrate the said technique.
Abstract: Inventory decisional environment of short life-cycle
products is full of uncertainties arising from randomness and
fuzziness of input parameters like customer demand requiring
modeling under hybrid uncertainty. Prior inventory models
incorporating fuzzy demand have unfortunately ignored stochastic
variation of demand. This paper determines an unambiguous optimal
order quantity from a set of n fuzzy observations in a newsvendor
inventory setting in presence of fuzzy random variable demand
capturing both fuzzy perception and randomness of customer
demand. The stress of this paper is in providing solution procedure
that attains optimality in two steps with demand information
availability in linguistic phrases leading to fuzziness along with
stochastic variation. The first step of solution procedure identifies
and prefers one best fuzzy opinion out of all expert opinions and the
second step determines optimal order quantity from the selected
event that maximizes profit. The model and solution procedure is
illustrated with a numerical example.
Abstract: In this article, the authors reviewed and analyzed the survey materials similarities ornament proto-Turkic and northern Indians. The study examined the materials scientists - geneticists, archaeologists, anthropologists. Numerous studies of scientists from different directions once again prove the relevance of the topic. The authors approached the subject from an artistic side. The study authors have made the appropriate conclusions. This publication is based on the proceedings of the investigation.
Abstract: This paper investigates the effect of replacing
crankshaft with cam on the indicated torque during compression and
power strokes in internal combustion engines. A Cycloidal cam
profile was used in Revetec engine to calculate and compare the
torque to a conventional engine, using a computational method.
Firstly, the cylinder pressure was calculated using Ferguson equation,
and then the torque calculated depending on cylinder pressure values
in every crank angle. the results showed that by using Cycloidal cam
profile in Revetec engine the torque can increased by 14% compared
with conventional engines, which means an increase in engine
efficiency.
Abstract: The purpose of this study attempts to emphasize the factors relating to intra-family relationships (order point of view) on violence against the women, For this purpose a survey technique on the sample size amounted 100 women of married of city of Ilam in country of Iran were considered. For measurement of violence against the women , the CTS scaled has been used .violence against the women be measured in four dimension ( emotional violence, psycho violence, physical violence, neglect violence). highest violence was related to emotional violence and after are as follow respectively : physical violence and neglect violence. The results showed that women have experienced the violence more than once during the last year, degree of order in family is high. Explanation result indicated that the order variables in family including collective thinking, empathy and communal co-circumstance have significant effects on violence against the women. Via multiple regression analysis variables of empathy, religious tenet and education of husband had significant effect on violence against women. In other words relationships among family effect on violence in family.
Abstract: This paper presents the application of Intelligent
Techniques to the various duties of Intelligent Condition Monitoring
Systems (ICMS) for Unmanned Aerial Vehicle (UAV) Robots. These
Systems are intended to support these Intelligent Robots in the event
of a Fault occurrence. Neural Networks are used for Diagnosis, whilst
Fuzzy Logic is intended for Prognosis and Remedy. The ultimate
goals of ICMS are to save large losses in financial cost, time and
data.
Abstract: Antibacterial activity of Plumeria alba (Frangipani)
petals methanolic extracts were evaluated against Escherichia coli,
Proteus vulgaris,Staphylococcus aureus, Klebsiella pneumoniae,
Pseudomonas aeruginosa, Staphylococcus saprophyticus,
Enterococcus faecalis and Serratia marcescens by using disk
diffusion method. Concentration extracts (80 %) showed the highest
inhibition zone towards Escherichia coli (14.3 mm). Frangipani
extract also showed high antibacterial activity against
Staphylococcus saprophyticus, Proteus vulgaris and Serratia
marcescens, but not more than the zones of the positive control used.
Comparison between two broad specrum antibiotics to frangipani
extracts showed that the 80 % concentration extracts produce the
same zone of inhibition as Streptomycin. Frangipani extracts showed
no bacterial activity towards Klebsiella pneumoniae, Pseudomonas
aeruginosa and Enterococcus faecalis. There are differences in the
sensitivity of different bacteria to frangipani extracts, suggesting that
frangipani-s potency varies between these bacteria. The present
results indicate that frangipani showed significant antibacterial
activity especially to Escherichia coli.
Abstract: An algorithm for estimating the disparity of objects of
interest is proposed. This algorithm uses image shifting and
overlapping area to estimate the disparity value; thereby depth of the
objects of interest can be obtained. The algorithm is able to perform
at different levels of accuracy. However, as the accuracy increases
the processing speed decreases. The algorithm is tested with static
stereo images and sequence of stereo images. The experimental
results are presented in this paper.
Abstract: At present, the tendency to implement the conditionbased
maintenance (CBM), which allows the optimization of the
expenses for equipment monitoring, is more and more evident; also,
the transformer substations with remote monitoring are increasingly
used. This paper reviews all the advantages of the on-line monitoring
and presents an equipment for on-line monitoring of bushings, which
is the own contribution of specialists who are the authors of this
paper. The paper presents a study of the temperature field, using the
finite element method. For carrying out this study, the 3D modelling
of the above mentioned bushing was performed. The analysis study is
done taking into account the extreme thermal stresses, focusing at the
level of the first cooling wing section of the ceramic insulator. This
fact enables to justify the tanδ variation in time, depending on the
transformer loading and the environmental conditions. With a view
to reducing the variation of dielectric losses in bushing insulation, the
use of ferrofuids instead of mineral oils is proposed.
Abstract: The quality of a machined surface is becoming more and more important to justify the increasing demands of sophisticated component performance, longevity, and reliability. Usually, any machining operation leaves its own characteristic evidence on the machined surface in the form of finely spaced micro irregularities (surface roughness) left by the associated indeterministic characteristics of the different elements of the system: tool-machineworkpart- cutting parameters. However, one of the most influential sources in machining affecting surface roughness is the instantaneous state of tool edge. The main objective of the current work is to relate the in-process immeasurable cutting edge deformation and surface roughness to a more reliable easy-to-measure force signals using a robust non-linear time-dependent modeling regression techniques. Time-dependent modeling is beneficial when modern machining systems, such as adaptive control techniques are considered, where the state of the machined surface and the health of the cutting edge are monitored, assessed and controlled online using realtime information provided by the variability encountered in the measured force signals. Correlation between wear propagation and roughness variation is developed throughout the different edge lifetimes. The surface roughness is further evaluated in the light of the variation in both the static and the dynamic force signals. Consistent correlation is found between surface roughness variation and tool wear progress within its initial and constant regions. At the first few seconds of cutting, expected and well known trend of the effect of the cutting parameters is observed. Surface roughness is positively influenced by the level of the feed rate and negatively by the cutting speed. As cutting continues, roughness is affected, to different extents, by the rather localized wear modes either on the tool nose or on its flank areas. Moreover, it seems that roughness varies as wear attitude transfers from one mode to another and, in general, it is shown that it is improved as wear increases but with possible corresponding workpart dimensional inaccuracy. The dynamic force signals are found reasonably sensitive to simulate either the progressive or the random modes of tool edge deformation. While the frictional force components, feeding and radial, are found informative regarding progressive wear modes, the vertical (power) components is found more representative carrier to system instability resulting from the edge-s random deformation.
Abstract: A transient heat transfer mathematical model for the
prediction of temperature distribution in the car body during primer
baking has been developed by considering the thermal radiation and
convection in the furnace chamber and transient heat conduction
governing equations in the car framework. The car cockpit is
considered like a structure with six flat plates, four vertical plates
representing the car doors and the rear and front panels. The other
two flat plates are the car roof and floor. The transient heat
conduction in each flat plate is modeled by the lumped capacitance
method. Comparison with the experimental data shows that the heat
transfer model works well for the prediction of thermal behavior of
the car body in the curing furnace, with deviations below 5%.