Abstract: The research on two-wheeled inverted pendulum (TWIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world. This paper describes the hardware design of such a robot. The objective of the design is to develop a TWIP mobile robot as well as MATLAB interfacing configuration to be used as flexible platform comprises of embedded unstable linear plant intended for research and teaching purposes. Issues such as selection of actuators and sensors, signal processing units, MATLAB Real Time Workshop coding, modeling and control scheme will be addressed and discussed. The system is then tested using a wellknown state feedback controller to verify its functionality.
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 kinetics of palm oil catalytic cracking over
aluminum containing mesoporous silica Al-MCM-41 (5% Al) was
investigated in a batch autoclave reactor at the temperatures range of
573 – 673 K. The catalyst was prepared by using sol-gel technique
and has been characterized by nitrogen adsorption and x-ray
diffraction methods. Surface area of 1276 m2/g with average pore
diameter of 2.54 nm and pore volume of 0.811 cm3/g was obtained.
The experimental catalytic cracking runs were conducted using 50 g
of oil and 1 g of catalyst. The reaction pressure was recorded at
different time intervals and the data were analyzed using Levenberg-
Marquardt (LM) algorithm using polymath software. The results
show that the reaction order was found to be -1.5 and activation
energy of 3200 J/gmol.
Abstract: In recent years various types of electric vehicles
has gained again increasing attention as an environmentally
benign technology in transport. Especially for urban areas with
high local pollution this Zero-emission technology (at the point
of use) is considered to provide proper solutions. Yet, the bad
economics and the limited driving ranges are still major barriers
for a broader market penetration of battery electric vehicles
(BEV) and of fuel cell vehicles (FCV). The major result of our
analyses is that the most important precondition for a further
dissemination of BEV in urban areas are emission-free zones.
This is an instrument which allows the promotion of BEV
without providing excessive subsidies. In addition, it is
important to note that the full benefits of EV can only be
harvested if the electricity used is produced from renewable
energy sources. That is to say, it has to be ensured that the use of
BEV in urban areas is clearly linked to a green electricity
purchase model. And moreover, the introduction of a CO2-
emission-based tax system would support this requirement.
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: In this paper, the data correction algorithm is suggested
when the environmental air temperature varies. To correct the infrared
data in this paper, the initial temperature or the initial infrared image
data is used so that a target source system may not be necessary. The
temperature data obtained from infrared detector show nonlinear
property depending on the surface temperature. In order to handle this
nonlinear property, Taylor series approach is adopted. It is shown that
the proposed algorithm can reduce the influence of environmental
temperature on the components in the board. The main advantage of
this algorithm is to use only the initial temperature of the components
on the board rather than using other reference device such as black
body sources in order to get reference temperatures.
Abstract: This paper shows the results of empirical research. It
presents experiences of Polish companies from the Podkarpackie
voivodeship connected with implementing EMS according to the
requirements of the ISO 14001 international standard. The incentives
to introduce and certify organizational eco-innovation, which formal
EMSs are treated as, are presented in this paper.
Abstract: Thermo-chemical treatment (TCT) such as pyrolysis
is getting recognized as a valid route for (i) materials and valuable
products and petrochemicals recovery; (ii) waste recycling; and (iii)
elemental characterization. Pyrolysis is also receiving renewed
attention for its operational, economical and environmental
advantages. In this study, samples of polyethylene terephthalate
(PET) and polystyrene (PS) were pyrolysed in a microthermobalance
reactor (using a thermogravimetric-TGA setup). Both
polymers were prepared and conditioned prior to experimentation.
The main objective was to determine the kinetic parameters of the
depolymerization reactions that occur within the thermal degradation
process. Overall kinetic rate constants (ko) and activation energies
(Eo) were determined using the general kinetics theory (GKT)
method previously used by a number of authors. Fitted correlations
were found and validated using the GKT, errors were within ± 5%.
This study represents a fundamental step to pave the way towards the
development of scaling relationship for the investigation of larger
scale reactors relevant to industry.
Abstract: Spectrum is a scarce commodity, and considering the spectrum scarcity faced by the wireless-based service providers led to high congestion levels. Technical inefficiencies from pooled, since all networks share a common pool of channels, exhausting the available channels will force networks to block the services. Researchers found that cognitive radio (CR) technology may resolve the spectrum scarcity. A CR is a self-configuring entity in a wireless networking that senses its environment, tracks changes, and frequently exchanges information with their networks. However, CRN facing challenges and condition become worst while tracks changes i.e. reallocation of another under-utilized channels while primary network user arrives. In this paper, channels or resource reallocation technique based on DNA-inspired computing algorithm for CRN has been proposed.
Abstract: The project describes the modeling of various
architectures mechatronics specifically morphologies of robots in an educational environment. Each structure developed by students of
pre-school, primary and secondary was created using the concept of
reverse engineering in a constructivist environment, to later be integrated in educational software that promotes the teaching of
educational Robotics in a virtual and economic environment.
Abstract: Synthetic Aperture Radar (SAR) is an imaging radar form by taking full advantage of the relative movement of the antenna with respect to the target. Through the simultaneous processing of the radar reflections over the movement of the antenna via the Range Doppler Algorithm (RDA), the superior resolution of a theoretical wider antenna, termed synthetic aperture, is obtained. Therefore, SAR can achieve high resolution two dimensional imagery of the ground surface. In addition, two filtering steps in range and azimuth direction provide accurate enough result. This paper develops a simulation in which realistic SAR images can be generated. Also, the effect of velocity errors in the resulting image has also been investigated. Taking some velocity errors into account, the simulation results on the image resolution would be presented. Most of the times, algorithms need to be adjusted for particular datasets, or particular applications.
Abstract: In this paper, we present a new method for
incorporating global shift invariance in support vector machines.
Unlike other approaches which incorporate a feature extraction stage,
we first scale the image and then classify it by using the modified
support vector machines classifier. Shift invariance is achieved by
replacing dot products between patterns used by the SVM classifier
with the maximum cross-correlation value between them. Unlike the
normal approach, in which the patterns are treated as vectors, in our
approach the patterns are treated as matrices (or images). Crosscorrelation
is computed by using computationally efficient
techniques such as the fast Fourier transform. The method has been
tested on the ORL face database. The tests indicate that this method
can improve the recognition rate of an SVM classifier.
Abstract: The steady incompressible flow has been solved in cylindrical coordinates in both vapour region and wick structure. The governing equations in vapour region are continuity, Navier-Stokes and energy equations. These equations have been solved using SIMPLE algorithm. For study of parameters variation on heat pipe operation, a benchmark has been chosen and the effect of changing one parameter has been analyzed when the others have been fixed.
Abstract: Network-Centric Air Defense Missile Systems
(NCADMS) represents the superior development of the air defense
missile systems and has been regarded as one of the major research
issues in military domain at present. Due to lack of knowledge and
experience on NCADMS, modeling and simulation becomes an effective
approach to perform operational analysis, compared with
those equation based ones. However, the complex dynamic interactions
among entities and flexible architectures of NCADMS put forward
new requirements and challenges to the simulation framework
and models. ABS (Agent-Based Simulations) explicitly addresses
modeling behaviors of heterogeneous individuals. Agents have capability
to sense and understand things, make decisions, and act on the
environment. They can also cooperate with others dynamically to
perform the tasks assigned to them. ABS proves an effective approach
to explore the new operational characteristics emerging in
NCADMS. In this paper, based on the analysis of network-centric
architecture and new cooperative engagement strategies for
NCADMS, an agent-based simulation framework by expanding the
simulation framework in the so-called System Effectiveness Analysis
Simulation (SEAS) was designed. The simulation framework specifies
components, relationships and interactions between them, the
structure and behavior rules of an agent in NCADMS. Based on scenario
simulations, information and decision superiority and operational
advantages in NCADMS were analyzed; meanwhile some
suggestions were provided for its future development.
Abstract: This paper is concerned with the numerical minimization
of energy functionals in BV (
) (the space of bounded variation
functions) involving total variation for gray-scale 1-dimensional inpainting
problem. Applications are shown by finite element method
and discontinuous Galerkin method for total variation minimization.
We include the numerical examples which show the different recovery
image by these two methods.
Abstract: The purpose of Grid computing is to utilize
computational power of idle resources which are distributed in
different areas. Given the grid dynamism and its decentralize
resources, there is a need for an efficient scheduler for scheduling
applications. Since task scheduling includes in the NP-hard problems
various researches have focused on invented algorithms especially
the genetic ones. But since genetic is an inherent algorithm which
searches the problem space globally and does not have the efficiency
required for local searching, therefore, its combination with local
searching algorithms can compensate for this shortcomings. The aim
of this paper is to combine the genetic algorithm and GELS (GAGELS)
as a method to solve scheduling problem by which
simultaneously pay attention to two factors of time and number of
missed tasks. Results show that the proposed algorithm can decrease
makespan while minimizing the number of missed tasks compared
with the traditional methods.
Abstract: Pollution emission levels of aircraft engines are a
nowadays high concern. Any technological advance that could reduce
emission levels is always welcome. In what concerns aircraft engines,
a possible solution for this problem could be the use of regenerators
and intercoolers. These components might reduce the specific fuel
consumption, increase efficiency and specific thrust and consequently
reduce the pollution levels of the engine. This is not a novel solution.
These heat exchangers are already is use in stationary engines. For
aircraft engines, the extra weight of the needed hardware could
overcome the fuel saved. This work compares a conventional engine
with configurations that use intercoolers and regenerators.
Abstract: Fuzzy logic system (FLS) is used in this study to
predict the tractive performance in terms of traction force, and
motion resistance for an intelligent air cushion track vehicle while it
operates in the swamp peat. The system is effective to control the
intelligent air –cushion system with measuring the vehicle traction
force (TF), motion resistance (MR), cushion clearance height (CH)
and cushion pressure (CP). Ultrasonic displacement sensor, pull-in
solenoid electromagnetic switch, pressure control sensor, micro
controller, and battery pH sensor are incorporated with the Fuzzy
logic system to investigate experimentally the TF, MR, CH, and CP.
In this study, a comparison for tractive performance of an intelligent
air cushion track vehicle has been performed with the results obtained
from the predicted values of FLS and experimental actual values. The
mean relative error of actual and predicted values from the FLS
model on traction force, and total motion resistance are found as 5.58
%, and 6.78 % respectively. For all parameters, the relative error of
predicted values are found to be less than the acceptable limits. The
goodness of fit of the prediction values from the FLS model on TF,
and MR are found as 0.90, and 0.98 respectively.
Abstract: In this study, the precision heading process of
spur gears has been investigated by means of numerical
analysis. The effect of some parameters such as teeth number
and module on the forming force and material flow were
presented. The simulation works were performed rigid-plastic
finite element method using DEFORM 3D software. In order
to validate the estimated numerical results, they were
compared with those obtained experimentally during heading
of spur gear using lead as a model material. Results showed
that the optimum number of gear teeth is between 10 to 20,
that is because of being the specific pressure in its minimum
value.
Abstract: In this work the opportunity of construction of the
qualifiers for face-recognition systems based on conjugation criteria
is investigated. The linkage between the bipartite conjugation, the
conjugation with a subspace and the conjugation with the null-space
is shown. The unified solving rule is investigated. It makes the
decision on the rating of face to a class considering the linkage
between conjugation values. The described recognition method can
be successfully applied to the distributed systems of video control
and video observation.