Abstract: This paper describes the design concepts and
implementation of a 5-Joint mechanical arm for a rescue robot named
CEO Mission II. The multi-joint arm is a five degree of freedom
mechanical arm with a four bar linkage, which can be stretched to
125 cm. long. It is controlled by a teleoperator via the user-friendly
control and monitoring GUI program. With Inverse Kinematics
principle, we developed the method to control the servo angles of all
arm joints to get the desired tip position. By clicking the determined
tip position or dragging the tip of the mechanical arm on the
computer screen to the desired target point, the robot will compute
and move its multi-joint arm to the pose as seen on the GUI screen.
The angles of each joint are calculated and sent to all joint servos
simultaneously in order to move the mechanical arm to the desired
pose at once. The operator can also use a joystick to control the
movement of this mechanical arm and the locomotion of the robot.
Many sensors are installed at the tip of this mechanical arm for
surveillance from the high level and getting the vital signs of victims
easier and faster in the urban search and rescue tasks. It works very
effectively and easy to control. This mechanical arm and its software
were developed as a part of the CEO Mission II Rescue Robot that
won the First Runner Up award and the Best Technique award from
the Thailand Rescue Robot Championship 2006. It is a low cost,
simple, but functioning 5-Jiont mechanical arm which is built from
scratch, and controlled via wireless LAN 802.11b/g. This 5-Jiont
mechanical arm hardware concept and its software can also be used
as the basic mechatronics to many real applications.
Abstract: Virtual touch screen using camera is an ordinary screen which uses a camera to imitate the touch screen by taking a picture of an indicator, e.g., finger, which is laid on the screen, converting the indicator tip position on the picture to the position on the screen, and moving the cursor on the screen to that position. In fact, the indicator is not laid on the screen directly, but it is intervened by the cover at some intervals. In spite of this gap, if the eye-indicator-camera angle is not large, the mapping from the indicator tip positions on the image to the corresponding cursor positions on the screen is not difficult and could be done with a little error. However, the larger the angle is, the bigger the error in the mapping occurs. This paper proposes cursor position estimation model for virtual touch screen using camera which could eliminate this kind of error. The proposed model (i) moves the on-screen pilot cursor to the screen position which locates on the screen at the position just behind the indicator tip when the indicator tip has been looked from the camera position, and then (ii) converts that pilot cursor position to the desirable cursor position (the position on the screen when it has been looked from the user-s eye through the indicator tip) by using the bilinear transformation. Simulation results show the correctness of the estimated cursor position by using the proposed model.
Abstract: This paper presents an analysis on the capacity and performance of MIMO-OFDM systems. The work is focused on the capacity of MIMO-OFDM systems over rician fading channel, in the case of the channel being known at the receiver only, which is more practical case of the channel. Simple expression for capacity is derived for the case of correlated rician fading. The performance of some MIMO-OFDM implementations with rician fading model is presented using an Alamouti coding scheme and Simulation results are obtained for both capacity and performance analysis.
Abstract: We discuss the signal detection through nonlinear
threshold systems. The detection performance is assessed by the
probability of error Per . We establish that: (1) when the signal is
complete suprathreshold, noise always degrades the signal detection
both in the single threshold system and in the parallel array of
threshold devices. (2) When the signal is a little subthreshold, noise
degrades signal detection in the single threshold system. But in the
parallel array, noise can improve signal detection, i.e., stochastic
resonance (SR) exists in the array. (3) When the signal is predominant
subthreshold, noise always can improve signal detection and SR
always exists not only in the single threshold system but also in the
parallel array. (4) Array can improve signal detection by raising the
number of threshold devices. These results extend further the
applicability of SR in signal detection.
Abstract: this paper presents a novel scheme which is capable of reducing the error rate and improves the transmission performance in the asynchronous cooperative MIMO systems. A case study of image transmission is applied to prove the efficient of scheme. The linear dispersion structure is employed to accommodate the cooperative wireless communication network in the dynamic topology of structure, as well as to achieve higher throughput than conventional space–time codes based on orthogonal designs. The LDPC encoder without girth-4 and the STBC encoder with guard intervals are respectively introduced. The experiment results show that the combined coder of LDPC-STBC with guard intervals can be the good error correcting coders and BER performance in the asynchronous cooperative communication. In the case study of image transmission, the results show that in the transmission process, the image quality which is obtained by applied combined scheme is much better than it which is not applied the scheme in the asynchronous cooperative MIMO systems.
Abstract: WiMAX is defined as Worldwide Interoperability for
Microwave Access by the WiMAX Forum, formed in June 2001 to
promote conformance and interoperability of the IEEE 802.16
standard, officially known as WirelessMAN. The attractive features
of WiMAX technology are very high throughput and Broadband
Wireless Access over a long distance. A detailed simulation
environment is demonstrated with the UGS, nrtPS and ertPS service
classes for throughput, delay and packet delivery ratio for a mixed
environment of fixed and mobile WiMAX. A simple mobility aspect
is considered for the mobile WiMAX and the PMP mode of
transmission is considered in TDD mode. The Network Simulator 2
(NS-2) is the tool which is used to simulate the WiMAX network
scenario. A simple Priority Scheduler and Weighted Round Robin
Schedulers are the WiMAX schedulers used in the research work
Abstract: The aim of this study is to develop mathematical
relationships for the performance parameter brake thermal efficiency
(BTE) and emission parameter nitrogen oxides (NOx) for the various
esters of vegetable oils used as CI engine fuel. The BTE is an
important performance parameter defining the ability of engine to
utilize the energy supplied and power developed similarly it is
indication of efficiency of fuels used. The esters of cottonseed oil,
soybean oil, jatropha oil and hingan oil are prepared using
transesterification process and characterized for their physical and
main fuel properties including viscosity, density, flash point and
higher heating value using standard test methods. These esters are
tried as CI engine fuel to analyze the performance and emission
parameters in comparison to diesel. The results of the study indicate
that esters as a fuel does not differ greatly with that of diesel in
properties. The CI engine performance with esters as fuel is in line
with the diesel where as the emission parameters are reduced with the
use of esters.
The correlation developed between BTE and brake power(BP),
gross calorific value(CV), air-fuel ratio(A/F), heat carried away by
cooling water(HCW). Another equation is developed between the
NOx emission and CO, HC, smoke density (SD), exhaust gas
temperature (EGT). The equations are verified by comparing the
observed and calculated values which gives the coefficient of
correlation of 0.99 and 0.96 for the BTE and NOx equations
respectively.
Abstract: As the mobile Internet has become widespread in
recent years, communication based on mobile networks is increasing.
As a result, security threats have been posed with regard to the
abnormal traffic of mobile networks, but mobile security has been
handled with focus on threats posed by mobile malicious codes, and
researches on security threats to the mobile network itself have not
attracted much attention. In mobile networks, the IP address of the data
packet is a very important factor for billing purposes. If one mobile
terminal use an incorrect IP address that either does not exist or could
be assigned to another mobile terminal, billing policy will cause
problems. We monitor and analyze 3G mobile data networks traffics
for a period of time and finds some abnormal IP packets. In this paper,
we analyze the reason for abnormal IP packets on 3G Mobile Data
Networks. And we also propose an algorithm based on IP address table
that contains addresses currently in use within the mobile data network
to detect abnormal IP packets.
Abstract: As a vital activity for companies, new product
development (NPD) is also a very risky process due to the high
uncertainty degree encountered at every development stage and the
inevitable dependence on how previous steps are successfully
accomplished. Hence, there is an apparent need to evaluate new
product initiatives systematically and make accurate decisions under
uncertainty. Another major concern is the time pressure to launch a
significant number of new products to preserve and increase the
competitive power of the company. In this work, we propose an
integrated decision-making framework based on neural networks and
fuzzy logic to make appropriate decisions and accelerate the
evaluation process. We are especially interested in the two initial
stages where new product ideas are selected (go/no go decision) and
the implementation order of the corresponding projects are
determined. We show that this two-staged intelligent approach allows
practitioners to roughly and quickly separate good and bad product
ideas by making use of previous experiences, and then, analyze a
more shortened list rigorously.
Abstract: Pyritisation halos are identified in weathering crusts and unconsolidated formations at five locations within large fault structure of the Urals’ eastern slope. Electron microscopy reveals the presence of inclusions and growths on pyrite faces – normally on cubic pyrite with striations, or combinations of cubes and other forms. Following neogenesis types are established: native elements and intermetallic compounds (including gold and silver), halogenides, sulphides, sulfosalts, tellurides, sulphotellurides,
selenides, tungstates, sulphates, phosphates, carbon-based substances. Direct relationship is noted between amount and diversity of such mineral phases, and proximity to and scale of ore-grade mineralization. Gold and silver, both in native form and within tellurides, presence of lead (galena, native lead), native tungsten, and, possibly, molybdenite and sulfosalts can indicate gold-bearing formations. First find of native tungsten in the Urals is for the first time – in crystallised and druse-like form. Link is suggested between unusual mineralization and “reducing” hydrothermal fluids from deep-seated faults at later stages of Urals’ reactivation.
Abstract: Coal tar is a liquid by-product of the process of coal
gasification and carbonation. This liquid oil mixture contains various
kinds of useful compounds such as phenol, o-cresol, and p-cresol.
These compounds are widely used as raw material for insecticides,
dyes, medicines, perfumes, coloring matters, and many others.
This research needed to be done that given the optimum conditions
for the separation of phenol, o-cresol, and p-cresol from the coal tar
by solvent extraction process. The aim of the present work was to
study the effect of two kinds of aqueous were used as solvents:
methanol and acetone solutions, the effect of temperature (298, 306,
and 313K) and mixing (30, 35, and 40rpm) for the separation of
phenol, o-cresol, and p-cresol from coal tar by solvent extraction.
Results indicated that phenol, o-cresol, and p-cresol in coal tar
were selectivity extracted into the solvent phase and these
components could be separated by solvent extraction. The aqueous
solution of methanol, mass ratio of solvent to feed, Eo/Ro=1,
extraction temperature 306K and mixing 35 rpm were the most
efficient for extraction of phenol, o-cresol, and p-cresol from coal tar.
Abstract: How to simulate experimentally the air flow and heat
transfer under microgravity on the ground is important, which has not
been completely solved so far. Influence of gravity on air natural
convection results in convection heat transfer on ground difference
from that on orbit. In order to obtain air temperature and velocity
deviations of manned spacecraft during terrestrial thermal test,
dimensionless number analysis and numerical simulation analysis are
performed. The calculated temperature distribution and velocity
distribution of the horizontal test cases are compared to the vertical
cases. The results show that the influence of gravity is neglected for
facility drawer racks and more obvious for vertical cabins.
Abstract: The significant effects of the interactions between the
system boundaries and the near wall molecules in miniaturized
gaseous devices lead to the formation of the Knudsen layer in which
the Navier-Stokes-Fourier (NSF) equations fail to predict the correct
associated phenomena. In this paper, the well-known lattice
Boltzmann method (LBM) is employed to simulate the fluid flow and
heat transfer processes in rarefied gaseous micro media. Persuaded
by the problematic deficiency of the LBM in capturing the Knudsen
layer phenomena, present study tends to concentrate on the effective
molecular mean free path concept the main essence of which is to
compensate the incapability of this mesoscopic method in dealing
with the momentum and energy transport within the above mentioned
kinetic boundary layer. The results show qualitative and quantitative
accuracy comparable to the solutions of the linearized Boltzmann
equation or the DSMC data for the Knudsen numbers of O (1) .
Abstract: The “PYRAMIDS" Block Cipher is a symmetric encryption algorithm of a 64, 128, 256-bit length, that accepts a variable key length of 128, 192, 256 bits. The algorithm is an iterated cipher consisting of repeated applications of a simple round transformation with different operations and different sequence in each round. The algorithm was previously software implemented in Cµ code. In this paper, a hardware implementation of the algorithm, using Field Programmable Gate Arrays (FPGA), is presented. In this work, we discuss the algorithm, the implemented micro-architecture, and the simulation and implementation results. Moreover, we present a detailed comparison with other implemented standard algorithms. In addition, we include the floor plan as well as the circuit diagrams of the various micro-architecture modules.
Abstract: This study reports results of a meta-analytic path analysis e-learning Acceptance Model with k = 27 studies, Databases searched included Information Sciences Institute (ISI) website. Variables recorded included perceived usefulness, perceived ease of use, attitude toward behavior, and behavioral intention to use e-learning. A correlation matrix of these variables was derived from meta-analytic data and then analyzed by using structural path analysis to test the fitness of the e-learning acceptance model to the observed aggregated data. Results showed the revised hypothesized model to be a reasonable, good fit to aggregated data. Furthermore, discussions and implications are given in this article.
Abstract: This paper details a new concept of using compressed air as a potential zero pollution power source for motorbikes. In place of an internal combustion engine, the motorbike is equipped with an air turbine transforms the energy of the compressed air into shaft work. The mathematical modeling and performance evaluation of a small capacity compressed air driven vaned type novel air turbine is presented in this paper. The effect of isobaric admission and adiabatic expansion of high pressure air for different rotor diameters, casing diameters and ratio of rotor to casing diameters of the turbine have been considered and analyzed. It is concluded that the work output is found optimum for some typical values of rotor / casing diameter ratios. In this study, the maximum power works out to 3.825 kW (5.20 HP) for casing diameter of 200 mm and rotor to casing diameter ratio of 0.65 to 0.60 which is sufficient to run motorbike.
Abstract: This study investigated the relationship between urban
and rural ozone concentrations and quantified the extent to which
ambient rural conditions and the concentrations of other pollutants
can be used to predict urban ozone concentrations. The study
describes the variations of ozone in weekday and weekends as well as
the daily maximum recorded at selected monitoring stations. The
results showed that Putrajaya station had the highest concentrations
of O3 on weekend due the titration of NO during the weekday.
Additionally, Jerantut had the lowest average concentration with a
reading value high on Wednesdays. The comparisons of average and
maximum concentrations of ozone for the three stations showed that
the strongest significant correlation is recorded in Jerantut station
with the value R2= 0.769. Ozone concentrations originating from a
neighbouring urban site form a better predictor to the urban ozone
concentrations than widespread rural ozone at some levels of
temporal averaging. It is found that in urban and rural of Malaysian
peninsular, the concentration of ozone depends on the concentration
of NOx and seasonal meteorological factors. The HYSPLIT Model
(the northeast monsoon) showed that the wind direction can also
influence the concentration of ozone in the atmosphere in the studied
areas.
Abstract: Social Business Process Management (SBPM)
promises to overcome limitations of traditional BPM by allowing
flexible process design and enactment through the involvement of
users from a social community. This paper proposes a meta-model
and architecture for socially driven business process management
systems. It discusses the main facets of the architecture such as goalbased
role assignment that combines social recommendations with
user profile, and process recommendation, through a real example of
a charity organization.
Abstract: This paper proposes a method which reduces power consumption in single-error correcting, double error-detecting checker circuits that perform memory error correction code. Power is minimized with little or no impact on area and delay, using the degrees of freedom in selecting the parity check matrix of the error correcting codes. The genetic algorithm is employed to solve the non linear power optimization problem. The method is applied to two commonly used SEC-DED codes: standard Hamming and odd column weight Hsiao codes. Experiments were performed to show the performance of the proposed method.
Abstract: The main aim of this paper was to investigate the
existing architecture in Cyprus, and thus identify and describe the
overall architectural rationale of the built environment. In Cyprus,
where individuals live in a society that reflects postmodern
paradigms rather than modern ones, the existing built environment
has many different reflections of the structure of its society.