Abstract: This paper addresses the problem of trajectory
tracking control of an underactuated autonomous underwater vehicle
(AUV) in the horizontal plane. The underwater vehicle under
consideration is not actuated in the sway direction, and the system
matrices are not assumed to be diagonal and linear, as often found in
the literature. In addition, the effect of constant bias of environmental
disturbances is considered. Using backstepping techniques and the
tracking error dynamics, the system states are stabilized by forcing
the tracking errors to an arbitrarily small neighborhood of zero. The
effectiveness of the proposed control method is demonstrated through
numerical simulations. Simulations are carried out for an
experimental vehicle for smooth, inertial, two dimensional (2D)
reference trajectories such as constant velocity trajectory (a circle
maneuver – constant yaw rate), and time varying velocity trajectory
(a sinusoidal path – sinusoidal yaw rate).
Abstract: This work presents a comparison between the Annual
Energy Output (AEO) of two commercial vertical-axis wind turbines
(VAWTs) for a low-wind urban site: both a drag-driven and a liftdriven
concepts are examined in order to be installed on top of the
new Via dei Giustinelli building, Trieste (Italy). The power-curves,
taken from the product specification sheets, have been matched to the
wind characteristics of the selected installation site. The influence of
rotor swept area and rated power on the performance of the two
proposed wind turbines have been examined in detail, achieving a
correlation between rotor swept area, electrical generator size and
wind distribution, to be used as a guideline for the calculation of the
AEO.
Abstract: This purpose of this paper is to present the acceptance single sampling plan when the fraction of nonconforming items is a fuzzy number and being modeled based on the fuzzy Poisson distribution. We have shown that the operating characteristic (oc) curves of the plan is like a band having a high and low bounds whose width depends on the ambiguity proportion parameter in the lot when that sample size and acceptance numbers is fixed. Finally we completed discuss opinion by a numerical example. And then we compared the oc bands of using of binomial with the oc bands of using of Poisson distribution.
Abstract: In this paper an efficient implementation of Ripemd-
160 hash function is presented. Hash functions are a special family
of cryptographic algorithms, which is used in technological
applications with requirements for security, confidentiality and
validity. Applications like PKI, IPSec, DSA, MAC-s incorporate
hash functions and are used widely today. The Ripemd-160 is
emanated from the necessity for existence of very strong algorithms
in cryptanalysis. The proposed hardware implementation can be
synthesized easily for a variety of FPGA and ASIC technologies.
Simulation results, using commercial tools, verified the efficiency of
the implementation in terms of performance and throughput. Special
care has been taken so that the proposed implementation doesn-t
introduce extra design complexity; while in parallel functionality was
kept to the required levels.
Abstract: An exact algorithm for a n-link manipulator movement amidst arbitrary unknown static obstacles is presented.
The algorithm guarantees the reaching of a target configuration of the manipulator in a finite number of steps. The algorithm is
reduced to a finite number of calls of a subroutine for planning a trajectory in the presence of known forbidden states. The polynomial approximation algorithm which is used as the subroutine is presented. The results of the exact algorithm
implementation for the control of a seven link (7 degrees of
freedom, 7DOF) manipulator are given.
Abstract: The unique structural configuration found in human foot allows easy walking. Similar movement is hard to imitate even for an ape. It is obvious that human ambulation relates to the foot structure itself. Suppose the bones are represented as vertices and the joints as edges. This leads to the development of a special graph that represents human foot. On a footprint there are point-ofcontacts which have contact with the ground. It involves specific vertices. Theoretically, for an ideal ambulation, these points provide reactions onto the ground or the static equilibrium forces. They are arranged in sequence in form of a path. The ambulating footprint follows this path. Having the human foot graph and the path crossbred, it results in a representation that describes the profile of an ideal ambulation. This profile cites the locations where the point-of-contact experience normal reaction forces. It highlights the significant of these points.
Abstract: The aim of this study was to examine and identify the
type of Iranian financial market in terms of being symmetrical or
asymmetrical and to measure relationship between type of market
and the market's indices. In this study, daily information on the
market-s Share Price Index, Industrial Index and Top Fifty Most
Active Companies during the years 1999-2010 has been used. In
addition, to determine type of the financial market, rate of return on
Security is taken into account. In this research, by using logistic
regression analysis methods, relationship of the market type with the
above mentioned indices have been examined. The results showed
that the type of the financial market has a positive significant
association with market share price index and Industrial Index. Index
of Top Fifty Most Active Companies is significantly associated with
type of financial market, however this relationship is inverse.
Abstract: This paper provides an introduction into the
evolution of information and communication technology and illustrates its usage in the work domain. The paper is sub-divided into two parts. The first part gives an overview over the different
phases of information processing in the work domain. It starts by
charting the past and present usage of computers in work
environments and shows current technological trends, which are likely to influence future business applications. The second part
starts by briefly describing, how the usage of computers changed business processes in the past, and presents first Ambient
Intelligence applications based on identification and localization
information, which are already used in the production and retail sector. Based on current systems and prototype applications, the
paper gives an outlook of how Ambient Intelligence technologies could change business processes in the future.
Abstract: High level synthesis (HLS) is a process which
generates register-transfer level design for digital systems from
behavioral description. There are many HLS algorithms and
commercial tools. However, most of these algorithms consider a
behavioral description for the system when a single token is
presented to the system. This approach does not exploit extra
hardware efficiently, especially in the design of digital filters where
common operations may exist between successive tokens. In this
paper, we modify the behavioral description to process multiple
tokens in parallel. However, this approach is unlike the full
processing that requires full hardware replication. It exploits the
presence of common operations between successive tokens. The
performance of the proposed approach is better than sequential
processing and approaches that of full parallel processing as the
hardware resources are increased.
Abstract: This study aims to assess the environmental hazards
from radon exhalation rate in the soil samples in selected locations in
Iraqi Kurdistan, using passive (CR-39NTDs) and active (RAD7)
detecting method. Radon concentration, effective radium content and
radon exhalation rate were estimated in soil samples that collected at
the depth level of 30 cm inside 124 houses. The results show that the
emanation rate for radon gas was variation from location to other,
depending on the geological formation. Most health risks come from
emanation of radon and its daughter due to its contribution for indoor
radon, so the results showed that there is a linear relationship
between the ratio of soil and indoor radon concentration (CSoil Rn222/
Cindoor Rn222) and the effective radium content in soil samples. The
results show that radon concentration has high and low values in
Hajyawa city and Er. Tyrawa Qr, respectively. A comparison
between our results with that mentioned in international reports was
done.
Abstract: In order to evaluate the Effects of dual inoculation of
Azotobacter and Mycorrhiza with Nitrogen and Phosphorus levels on
yield and yield components of spring safflower, this study was
carried out in field of Farahan university in Markazi province in
2007. A factorial in a randomized complete block design with three
replications was used inoculation of Azotobacter (with inoculation
and without inoculation) and Mycorrhiza (with inoculation and
without inoculation ) with Nitrogen and Phosphorus levels [F0= N0+
P0 (kg.ha-1), F1= N50+ P25(kg.ha-1), F2= N100+ P50(kg.ha-1) and
F3= N150+ P75 (kg.ha-1)] on spring safflower (cultivar IL-111). In
this study characteristics such as: Harvest index, Hectolitre weight,
Root dry weight, Seed yield, Mycorrhizal Colonization Root,
Number of days to maturity were assessed. Results indicated that
treatment (A0M1F3) with grain yield (1556 kg.ha-1) and treatment
(A0M1F0) with grain yield (918 kg.ha-1) were significantly superior
to the other treatments and according to calculated, inoculation seeds
in plantig date with Azotobacter and Mycorrhiza to cause increase
grain yield about 5/38 percentage. we can by inoculation safflower
seeds with Azotobacter and Mycorrhiza too easily at the time sowing
date. The purpose of this research, study and evaluation the role of
biological fixation N and P, to provide for feeds plants.
Abstract: The experimental results on combustion of rice husk
in a conical fluidized bed combustor (referred to as the conical FBC)
using silica sand as the bed material are presented in this paper. The
effects of excess combustion air and combustor loading as well as the
sand bed height on the combustion pattern in FBC were investigated.
Temperatures and gas concentrations (CO and NO) along over the
combustor height as well as in the flue gas downstream from the ash
collecting cyclone were measured. The results showed that the axial
temperature profiles in FBC were explicitly affected by the
combustor loading whereas the excess air and bed height were found
to have minor influences on the temperature pattern. Meanwhile, the
combustor loading and the excess air significantly affected the axial
CO and NO concentration profiles; however, these profiles were
almost independent of the bed height. The combustion and thermal
efficiencies for this FBC were quantified for different operating
conditions.
Abstract: Grid environments consist of the volatile integration
of discrete heterogeneous resources. The notion of the Grid is to
unite different users and organisations and pool their resources into
one large computing platform where they can harness, inter-operate,
collaborate and interact. If the Grid Community is to achieve this
objective, then participants (Users and Organisations) need to be
willing to donate or share their resources and permit other
participants to use their resources. Resources do not have to be
shared at all times, since it may result in users not having access to
their own resource. The idea of reward-based computing was
developed to address the sharing problem in a pragmatic manner.
Participants are offered a reward to donate their resources to the
Grid. A reward may include monetary recompense or a pro rata share
of available resources when constrained. This latter point may imply
a quality of service, which in turn may require some globally agreed
reservation mechanism. This paper presents a platform for economybased
computing using the WebCom Grid middleware. Using this
middleware, participants can configure their resources at times and
priority levels to suit their local usage policy. The WebCom system
accounts for processing done on individual participants- resources
and rewards them accordingly.
Abstract: In wireless networks, bandwidth is scare resource and it is essential to utilize it effectively. This paper analyses effects of using different bandwidth management techniques on the network performances of the Wireless Local Area Networks (WLANs) that use hybrid load balancing scheme. In particular, we study three bandwidth management schemes, namely Complete Sharing (CS), Complete Partitioning (CP), and Partial Sharing (PS). Performances of these schemes are evaluated by simulation experiments in term of percentage of network association blocking. Our results show that the CS scheme can provide relatively low blocking percentage in various network traffic scenarios whereas the PS scheme can enhance quality of services of the multimedia traffic with rather small expenses on the blocking percentage of the best effort traffic.
Abstract: Website plays a significant role in success of an e-business. It is the main start point of any organization and corporation for its customers, so it's important to customize and design it according to the visitors' preferences. Also, websites are a place to introduce services of an organization and highlight new service to the visitors and audiences. In this paper, we will use web usage mining techniques, as a new field of research in data mining and knowledge discovery, in an Iranian government website. Using the results, a framework for web content layour is proposed. An agent is designed to dynamically update and improve web links locations and layout. Then, we will explain how it is used to directly enable top managers of the organization to influence on the arrangement of web contents and also to enhance customization of web site navigation due to online users' behaviors.
Abstract: When considering the development of constitutive
equations describing the behavior of materials under cyclic plastic
strains, different kinds of formulations can be adopted. The primary
intention of this study is to develop computer programming of
plasticity models to accurately predict the life of engineering
components. For this purpose, the energy or cyclic strain is computed
in multi-surface plasticity models in non-proportional loading and to
present their procedures and codes results.
Abstract: WikID is a wiki for industrial design engineers. An
important aspect for the viability of a wiki is the loyalty of the user
community to share their information and knowledge by adding this
knowledge to the wiki. For the initiators of a wiki it is therefore
important to use every aspect to stimulate the user community to
actively participate. In this study the focus is on the styling of the
website. The central question is: How could the WikID website be
visually designed to achieve a user experience which will incite the
user to actively participate in the WikID community? After a
literature study on the influencing factors of a website, a new
interface has been designed by applying the rules found, in order to
expand this website-s active user community. An online
questionnaire regarding the old or the new website gave insights in
the opinions of users. As expected, the new website was rated more
positively than the old website. However, the differences are limited.
Abstract: Temperature, humidity and precipitation in an area,
are parameters proved influential in the climate of that area, and one
should recognize them so that he can determine the climate of that
area. Climate changes are of primary importance in climatology, and
in recent years, have been of great concern to researchers and even
politicians and organizations, for they can play an important role in
social, political and economic activities. Even though the real cause
of climate changes or their stability is not yet fully recognized, they
are a matter of concern to researchers and their importance for
countries has prompted them to investigate climate changes in
different levels, especially in regional, national and continental level.
This issue has less been investigated in our country. However, in
recent years, there have been some researches and conferences on
climate changes. This study is also in line with such researches and
tries to investigate and analyze the trends of climate changes
(temperature and precipitation) in Sefid-roud (the name of a river)
basin. Three parameters of mean annual precipitation, temperature,
and maximum and minimum temperatures in 36 synoptic and
climatology stations in a statistical period of 49 years (1956-2005) in
the stations of Sefid-roud basin were analyzed by Mann-Kendall test.
The results obtained by data analysis show that climate changes are
short term and have a trend. The analysis of mean temperature
revealed that changes have a significantly rising trend, besides the
precipitation has a significantly falling trend.
Abstract: The production of biodiesel from crude palm oil with
a homogeneous base catalyst is unlikely owing to considerable
formation of soap. Free fatty acids (FFA) in crude palm oil need to
be reduced, e.g. by esterification. This study investigated the activity
of sulfated zirconia calcined at various temperatures for esterification
of FFA in crude palm oil to biodiesel. It was found that under a
proper reaction condition, sulfated zirconia well catalyzes
esterification. FFA content can be reduced to an acceptable value for
typical biodiesel production with a homogeneous base catalyst.
Crystallinity and sulfate attachment of sulfated zirconia depend on
calcination temperature during the catalyst preparation. Too low
temperature of calcination gives amorphous sulfated zirconia which
has low activity for esterification of FFA. In contrast, very high
temperature of calcination removes sulfate group, consequently,
conversion of FFA is reduced. The appropriate temperature range of
calcination is 550-650 oC.
Abstract: Deflocculation and gel characterization were
investigated for three different composition of porcelain slips at
specific gravity 1.8. The suspensions were dispersed with sodium
silicate (Na2SiO3) in under-deflocculated slips and fully deflocculated
slips. The rheology characterization of slips was conducted by the
deflocculation curves and the gel curves. The results showed that
decreasing the amount of the ball clay composition in the slips
consumed less dosages of the dispersants. The under-deflocculated
slips tended to have a gelation rate faster than the fully deflocculated
slips.