Abstract: This paper considers the autonomous navigation
problem of multiple n-link nonholonomic mobile manipulators within
an obstacle-ridden environment. We present a set of nonlinear
acceleration controllers, derived from the Lyapunov-based control
scheme, which generates collision-free trajectories of the mobile
manipulators from initial configurations to final configurations in a
constrained environment cluttered with stationary solid objects of
different shapes and sizes. We demonstrate the efficiency of the
control scheme and the resulting acceleration controllers of the
mobile manipulators with results through computer simulations of an
interesting scenario.
Abstract: Detection, feature extraction and pose estimation of
people in images and video is made challenging by the variability of
human appearance, the complexity of natural scenes and the high
dimensionality of articulated body models and also the important
field in Image, Signal and Vision Computing in recent years. In this
paper, four types of people in 2D dimension image will be tested and
proposed. The system will extract the size and the advantage of them
(such as: tall fat, short fat, tall thin and short thin) from image. Fat
and thin, according to their result from the human body that has been
extract from image, will be obtained. Also the system extract every
size of human body such as length, width and shown them in output.
Abstract: Un-doped GaN film of thickness 1.90 mm, grown on
sapphire substrate were uniformly implanted with 325 keV Mn+ ions
for various fluences varying from 1.75 x 1015 - 2.0 x 1016 ions cm-2 at
3500 C substrate temperature. The structural, morphological and
magnetic properties of Mn ion implanted gallium nitride samples
were studied using XRD, AFM and SQUID techniques. XRD of the
sample implanted with various ion fluences showed the presence of
different magnetic phases of Ga3Mn, Ga0.6Mn0.4 and Mn4N.
However, the compositions of these phases were found to be
depended on the ion fluence. AFM images of non-implanted sample
showed micrograph with rms surface roughness 2.17 nm. Whereas
samples implanted with the various fluences showed the presence of
nano clusters on the surface of GaN. The shape, size and density of
the clusters were found to vary with respect to ion fluence. Magnetic
moment versus applied field curves of the samples implanted with
various fluences exhibit the hysteresis loops. The Curie temperature
estimated from zero field cooled and field cooled curves for the
samples implanted with the fluence of 1.75 x 1015, 1.5 x 1016 and 2.0
x 1016 ions cm-2 was found to be 309 K, 342 K and 350 K
respectively.
Abstract: The mechanical properties of granular solids are
dependent on the flow of stresses from one particle to another
through inter-particle contact. Although some experimental methods
have been used to study the inter-particle contacts in the past,
preliminary work with these techniques indicated that they do not
have the necessary resolution to distinguish between those contacts
that transmit the load and those that do not, especially for systems
with a wide distribution of particle sizes. In this research, computer
simulations are used to study the nature and distribution of contacts
in a compact with wide particle size distribution, representative of
aggregate size distribution used in asphalt pavement construction.
The packing fraction, the mean number of contacts and the
distribution of contacts were studied for different scenarios. A
methodology to distinguish and compute the fraction of load-bearing
particles and the fraction of space-filling particles (particles that do
not transmit any force) is needed for further investigation.
Abstract: Type 2 diabetes mellitus (T2DM) is a complex
metabolic disorder that characterized by the presence of high glucose
in blood that cause from insulin resistance and insufficiency due to
deterioration β-cell Langerhans functions. T2DM is commonly
caused by the combination of inherited genetic variations as well as
our own lifestyle. Metallothionein (MT) is a known cysteine-rich
protein responsible in helping zinc homeostasis which is important in
insulin signaling and secretion as well as protection our body from
reactive oxygen species (ROS). MT scavenged ROS and free
radicals in our body happen to be one of the reasons of T2DM and its
complications. The objective of this study was to investigate the
association of MT1A and MT2A polymorphisms between T2DM and
control subjects among Malay populations. This study involved 150
T2DM and 120 Healthy individuals of Malay ethnic with mixed
genders. The genomic DNA was extracted from buccal cells and
amplified for MT1A and MT2A loci; the 347bp and 238bp banding
patterns were respectively produced by mean of the Polymerase
Chain Reaction (PCR). The PCR products were digested with Mlucl
and Tsp451 restriction enzymes respectively and producing
fragments lengths of (158/189/347bp) and (103/135/238bp)
respectively. The ANOVA test was conducted and it shown that there
was a significant difference between diabetic and control subjects for
age, BMI, WHR, SBP, FPG, HBA1C, LDL, TG, TC and family
history with (P0.05). The genotype
frequency for AA, AG and GG of MT1A polymorphisms was 72.7%,
22.7% and 4.7% in cases and 15%, 55% and 30% in control
respectively. As for MT2A, genotype frequency of GG, GC and CC
was 42.7%, 27.3% and 30% in case and 5%, 40% and 55% for
control respectively. Both polymorphisms show significant difference
between two investigated groups with (P=0.000). The Post hoc test
was conducted and shows a significant difference between the
genotypes within each polymorphism (P=0. 000). The MT1A and
MT2A polymorphisms were believed to be the reliable molecular
markers to distinguish the T2DM subjects from healthy individuals in
Malay populations.
Abstract: It has been established that microRNAs (miRNAs) play
an important role in gene expression by post-transcriptional regulation
of messengerRNAs (mRNAs). However, the precise relationships
between microRNAs and their target genes in sense of numbers,
types and biological relevance remain largely unclear. Dissecting the
miRNA-target relationships will render more insights for miRNA
targets identification and validation therefore promote the understanding
of miRNA function. In miRBase, miRanda is the key
algorithm used for target prediction for Zebrafish. This algorithm
is high-throughput but brings lots of false positives (noise). Since
validation of a large scale of targets through laboratory experiments
is very time consuming, several computational methods for miRNA
targets validation should be developed. In this paper, we present an
integrative method to investigate several aspects of the relationships
between miRNAs and their targets with the final purpose of extracting
high confident targets from miRanda predicted targets pool. This is
achieved by using the techniques ranging from statistical tests to
clustering and association rules. Our research focuses on Zebrafish.
It was found that validated targets do not necessarily associate with
the highest sequence matching. Besides, for some miRNA families,
the frequency of their predicted targets is significantly higher in the
genomic region nearby their own physical location. Finally, in a case
study of dre-miR-10 and dre-miR-196, it was found that the predicted
target genes hoxd13a, hoxd11a, hoxd10a and hoxc4a of dre-miR-
10 while hoxa9a, hoxc8a and hoxa13a of dre-miR-196 have similar
characteristics as validated target genes and therefore represent high
confidence target candidates.
Abstract: In this paper, Steam Assisted Gravity Drainage
(SAGD) is introduced and its advantages over ordinary steam
injection is demonstrated. A simple simulation model is built and
three scenarios of natural production, ordinary steam injection, and
SAGD are compared in terms of their cumulative oil production and
cumulative oil steam ratio. The results show that SAGD can
significantly enhance oil production in quite a short period of time.
However, since the distance between injection and production wells
is short, the oil to steam ratio decreases gradually through time.
Abstract: A new code synchronization algorithm is proposed in
this paper for the secondary cell-search stage in wideband CDMA
systems. Rather than using the Cyclically Permutable (CP) code in the
Secondary Synchronization Channel (S-SCH) to simultaneously
determine the frame boundary and scrambling code group, the new
synchronization algorithm implements the same function with less
system complexity and less Mean Acquisition Time (MAT). The
Secondary Synchronization Code (SSC) is redesigned by splitting into
two sub-sequences. We treat the information of scrambling code group
as data bits and use simple time diversity BCH coding for further
reliability. It avoids involved and time-costly Reed-Solomon (RS)
code computations and comparisons. Analysis and simulation results
show that the Synchronization Error Rate (SER) yielded by the new
algorithm in Rayleigh fading channels is close to that of the
conventional algorithm in the standard. This new synchronization
algorithm reduces system complexities, shortens the average
cell-search time and can be implemented in the slot-based cell-search
pipeline. By taking antenna diversity and pipelining correlation
processes, the new algorithm also shows its flexible application in
multiple antenna systems.
Abstract: In the multi objective optimization, in the case when generated set of Pareto optimal solutions is large, occurs the problem to select of the best solution from this set. In this paper, is suggested a method to order of Pareto set. Ordering the Pareto optimal set carried out in conformity with the introduced distance function between each solution and selected reference point, where the reference point may be adjusted to represent the preferences of a decision making agent. Preference information about objective weights from a decision maker may be expressed imprecisely. The developed elicitation procedure provides an opportunity to obtain surrogate numerical weights for the objectives, and thus, to manage impreciseness of preference. The proposed method is a scalable to many objectives and can be used independently or as complementary to the various visualization techniques in the multidimensional case.
Abstract: The Internet has become an indispensable part of our lives. Witnessing recent web-based mass collaboration, e.g. Wikipedia, people are questioning whether the Internet has made fundamental changes to the society or whether it is merely a hyperbolic fad. It has long been assumed that collective action for a certain goal yields the problem of free-riding, due to its non-exclusive and non-rival characteristics. Then, thanks to recent technological advances, the on-line space experienced the following changes that enabled it to produce public goods: 1) decrease in the cost of production or coordination 2) externality from networked structure 3) production function which integrates both self-interest and altruism. However, this research doubts the homogeneity of on-line mass collaboration and argues that a more sophisticated and systematical approach is required. The alternative that we suggest is to connect the characteristics of the goal to the motivation. Despite various approaches, previous literature fails to recognize that motivation can be structurally restricted by the characteristic of the goal. First we draw a typology of on-line mass collaboration with 'the extent of expected beneficiary' and 'the existence of externality', and then we examine each combination of motivation using Benkler-s framework. Finally, we explore and connect such typology with its possible dominant participating motivation.
Abstract: The study of the variability of the postural strategies
in low back pain patients, as a criterion in evaluation of the
adaptability of this system to the environmental demands is the
purpose of this study. A cross-sectional case-control study was
performed on 21 recurrent non-specific low back pain patients and 21
healthy volunteers. The electromyography activity of Deltoid,
External Oblique (EO), Transverse Abdominis/Internal Oblique
(TrA/IO) and Erector Spine (ES) muscles of each person was
recorded in 75 rapid arm flexion with maximum acceleration.
Standard deviation of trunk muscles onset relative to deltoid muscle
onset were statistically analyzed by MANOVA . The results show
that chronic low back pain patients exhibit less variability in their
anticipatory postural adjustments (APAs) in comparison with the
control group. There is a decrease in variability of postural control
system of recurrent non-specific low back pain patients that can
result in the persistence of pain and chronicity by decreasing the
adaptability to environmental demands.
Abstract: An experiment was conducted with 80 unsexed
broilers of the Arbor Acress strain to determine the capability of a
carrot and fruit juice wastes mixture (carrot, apple, manggo, avocado,
orange, melon and Dutch egg plant) in the same proportion for
replacing corn in broiler diet. This study involved a completely
randomized design (CRD) with 5 treatments (0, 5, 10, 15, and 20% of
juice wastes mixture in diets) and 4 replicates per treatment. Diets
were isonitrogenous (22% crude protein) and isocaloric (3000 kcal/kg
diet). Measured variables were feed consumption, average daily
gain, feed conversion, as well as percentages of abdominal fat pad,
carcass, digestive organs (liver, pancreas and gizzard), and heart.
Data were analyzed by analysis of variance for CRD. Increasing
juice wastes mixture levels in diets increased feed consumption
(P
Abstract: Numerous concrete structures projects are currently running in Libya as part of a US$50 billion government funding. The
quality of concrete used in 20 different construction projects were assessed based mainly on the concrete compressive strength achieved. The projects are scattered all over the country and are at
various levels of completeness. For most of these projects, the
concrete compressive strength was obtained from test results of a
150mm standard cube mold. Statistical analysis of collected concrete
compressive strengths reveals that the data in general followed a
normal distribution pattern. The study covers comparison and assessment of concrete quality aspects such as: quality control, strength range, data standard deviation, data scatter, and ratio of minimum strength to design strength. Site quality control for these projects ranged from very good to poor according to ACI214 criteria [1]. The ranges (Rg) of the strength (max. strength – min. strength) divided by average strength are from (34% to 160%). Data scatter is
measured as the range (Rg) divided by standard deviation () and is
found to be (1.82 to 11.04), indicating that the range is ±3σ.
International construction companies working in Libya follow
different assessment criteria for concrete compressive strength in lieu
of national unified procedure. The study reveals that assessments of
concrete quality conducted by these construction companies usually
meet their adopted (internal) standards, but sometimes fail to meet
internationally known standard requirements. The assessment of
concrete presented in this paper is based on ACI, British standards
and proposed Libyan concrete strength assessment criteria.
Abstract: This paper presents a new sufficient condition for the
existence, uniqueness and global asymptotic stability of the equilibrium point for Cohen-Grossberg neural networks with multiple time delays. The results establish a relationship between the network parameters
of the neural system independently of the delay parameters. The results are also compared with the previously reported results in
the literature.
Abstract: Multi-loop (De-centralized) Proportional-Integral-
Derivative (PID) controllers have been used extensively in process
industries due to their simple structure for control of multivariable
processes. The objective of this work is to design multiple-model
adaptive multi-loop PID strategy (Multiple Model Adaptive-PID)
and neural network based multi-loop PID strategy (Neural Net
Adaptive-PID) for the control of multivariable system. The first
method combines the output of multiple linear PID controllers,
each describing process dynamics at a specific level of operation.
The global output is an interpolation of the individual multi-loop
PID controller outputs weighted based on the current value of the
measured process variable. In the second method, neural network
is used to calculate the PID controller parameters based on the
scheduling variable that corresponds to major shift in the process
dynamics. The proposed control schemes are simple in structure with
less computational complexity. The effectiveness of the proposed
control schemes have been demonstrated on the CSTR process,
which exhibits dynamic non-linearity.
Abstract: THEOS is the first earth observation spacecraft of Thailand which was launched on the 1st October 2008 and is currently operated by GISTDA. The transfer phase has been performed by Astrium Flight Dynamics team leading to a hand over to GISTDA teams starting mid-October 2008. The THEOS spacecraft-s orbit is LEO and has the same repetitivity (14+5/26) as the SPOT spacecraft, i.e. the same altitude of 822 km but it has a different mean local solar time (LST). Ground track maintenance manoeuvres are performed to maintain the ground track within a predefined control band around the reference ground track and the band is ±40 km for THEOS spacecraft. This paper presents the first ground track maintenance manoeuvre of THEOS spacecraft and the detailed results. In addition, it also includes one and a half year of operation as seen by GISTDA operators. It finally describes the foreseenable activities for the next orbit control manoeuvre (OCM) preparation.
Abstract: TiO2/MgO composite films were prepared by coating
the magnesium acetate solution in the pores of mesoporous TiO2
films using a dip coating method. Concentrations of magnesium
acetate solution were varied in a range of 1x10-4 – 1x10-1 M. The
TiO2/MgO composite films were characterized by scanning electron
microscopy (SEM), transmission electron microscropy (TEM),
electrochemical impedance spectroscopy(EIS) , transient voltage
decay and I-V test. The TiO2 films and TiO2/MgO composite films
were immersed in a 0.3 mM N719 dye solution. The Dye-sensitized
solar cells with the TiO2/MgO/N719 structure showed an optimal
concentration of magnesium acetate solution of 1x10-3 M resulting in
the MgO film estimated thickness of 0.0963 nm and giving the
maximum efficiency of 4.85%. The improved efficiency of dyesensitized
solar cell was due to the magnesium oxide film as the wide
band gap coating decays the electron back transfer to the triiodide
electrolyte and reduce charge recombination.
Abstract: Perhaps no single issue has been cited as either the root
cause and / or the greatest challenge to the restructured power system then the lack of adequate reliable transmission. Probabilistic transmission planning has become increasingly necessary and important in recent
years. The transmission planning analysis carried out by the authors,
spans a 10-year horizon, taking into consideration a value of 2 % load
increase / year at each consumer. Taking into consideration this increased
load, a probabilistic power flow was carried out, all the system components
being regarded from probabilistic point of view. Several contingencies
have been generated, for assessing the security of the power system. The results have been analyzed and several important conclusions were pointed. The objective is to achieve a network that works without limit violations for all (or most of) scenario realizations. The case study is represented by the IEEE 14 buses test power system.
Abstract: As emails communications have no consistent
authentication procedure to ensure the authenticity, we present an
investigation analysis approach for detecting forged emails based on
Random Forests and Naïve Bays classifiers. Instead of investigating
the email headers, we use the body content to extract a unique writing
style for all the possible suspects. Our approach consists of four main
steps: (1) The cybercrime investigator extract different effective
features including structural, lexical, linguistic, and syntactic
evidence from previous emails for all the possible suspects, (2) The
extracted features vectors are normalized to increase the accuracy
rate. (3) The normalized features are then used to train the learning
engine, (4) upon receiving the anonymous email (M); we apply the
feature extraction process to produce a feature vector. Finally, using
the machine learning classifiers the email is assigned to one of the
suspects- whose writing style closely matches M. Experimental
results on real data sets show the improved performance of the
proposed method and the ability of identifying the authors with a
very limited number of features.
Abstract: The Bayesian Optimization Algorithm (BOA) is an algorithm based on the estimation of distributions. It uses techniques from modeling data by Bayesian networks to estimating the joint distribution of promising solutions. To obtain the structure of Bayesian network, different search algorithms can be used. The key point that BOA addresses is whether the constructed Bayesian network could generate new and useful solutions (strings), which could lead the algorithm in the right direction to solve the problem. Undoubtedly, this ability is a crucial factor of the efficiency of BOA. Varied search algorithms can be used in BOA, but their performances are different. For choosing better ones, certain suitable method to present their ability difference is needed. In this paper, a greedy search algorithm and a stochastic search algorithm are used in BOA to solve certain optimization problem. A method using Kullback-Leibler (KL) Divergence to reflect their difference is described.