Abstract: This paper describes various stages of design and prototyping of a modular robot for use in various industrial applications. The major goal of current research has been to design and make different robotic joints at low cost capable of being assembled together in any given order for achieving various robot configurations. Five different types of joins were designed and manufactured where extensive research has been carried out on the design of each joint in order to achieve optimal strength, size, modularity, and price. This paper presents various stages of research and development undertaken to engineer these joints that include material selection, manufacturing, and strength analysis. The outcome of this research addresses the birth of a new generation of modular industrial robots with a wider range of applications and greater efficiency.
Abstract: Time delay in bilateral teleoperation system was
introduced as a sufficient reason to make the system unstable or
certainly degrade the system performance. In this paper, simulations
and experimental results of implementing p-like control scheme,
under different ranges of variable time delay, will be presented to
verify a certain criteria, which guarantee the system stability and
position tracking. The system consists of two Phantom premium 1.5A
devices. One of them acts as a master and the other acts as a slave.
The study includes deriving the Phantom kinematic and dynamic
model, establishing the link between the two Phantoms over
Simulink in Matlab, and verifying the stability criteria with
simulations and real experiments.
Abstract: Variable speed drives are growing and varying. Drives expanse depend on progress in different part of science like power system, microelectronic, control methods, and so on. Artificial intelligent contains hard computation and soft computation. Artificial intelligent has found high application in most nonlinear systems same as motors drive. Because it has intelligence like human but there are no sentimental against human like angriness and.... Artificial intelligent is used for various points like approximation, control, and monitoring. Because artificial intelligent techniques can use as controller for any system without requirement to system mathematical model, it has been used in electrical drive control. With this manner, efficiency and reliability of drives increase and volume, weight and cost of them decrease.
Abstract: The present work is concerned with sulfidation of Cu,
Zn and Ni containing plating wastewater with CaS. The sulfidation
experiments were carried out at a room temperature by adding solid
CaS to simulated metal solution containing either single-metal of Ni,
Zn and Cu, or Ni-Zn-Cu mixture. At first, the experiments were
conducted without pH adjustment and it was found that the complete
sulfidation of Zn and Ni was achieved at an equimolar ratio of CaS to a
particular metal. However, in the case of Cu, a complete copper
sulfidation was achieved at CaS to Cu molar ratio of about 2. In the
case of the selective sulfidation, a simulated plating solution
containing Cu, Zn and Ni at the concentration of 100 mg/dm3 was
treated with CaS under various pH conditions. As a result, selective
precipitation of metal sulfides was achieved by a sulfidation treatment
at different pH values. Further, the precipitation agents of NaOH,
Na2S and CaS were compared in terms of the average specific
filtration resistance and compressibility coefficients of metal sulfide
slurry. Consequently, based on the lowest filtration parameters of the
produced metal sulfides, it was concluded that CaS was the most
effective precipitation agent for separation and recovery of Cu, Zn and
Ni.
Abstract: Today, numerical simulation is a powerful tool to
solve various hydraulic engineering problems. The aim of this
research is numerical solutions of shallow water equations using
finite volume method for Simulations of dam break over wet and dry
bed. In order to solve Riemann problem, Roe-s approximate solver is
used. To evaluate numerical model, simulation was done in 1D and
2D states. In 1D state, two dam break test over dry bed (with and
without friction) were studied. The results showed that Structural
failure around the dam and damage to the downstream constructions
in bed without friction is more than friction bed. In 2D state, two
tests for wet and dry beds were done. Generally in wet bed case,
waves are propagated to canal sides but in dry bed it is not
significant. Therefore, damage to the storage facilities and
agricultural lands in wet bed case is more than in dry bed.
Abstract: In this paper we propose a method for vision systems
to consistently represent functional dependencies between different
visual routines along with relational short- and long-term knowledge
about the world. Here the visual routines are bound to visual properties
of objects stored in the memory of the system. Furthermore,
the functional dependencies between the visual routines are seen
as a graph also belonging to the object-s structure. This graph is
parsed in the course of acquiring a visual property of an object to
automatically resolve the dependencies of the bound visual routines.
Using this representation, the system is able to dynamically rearrange
the processing order while keeping its functionality. Additionally, the
system is able to estimate the overall computational costs of a certain
action. We will also show that the system can efficiently use that
structure to incorporate already acquired knowledge and thus reduce
the computational demand.
Abstract: The paper is concerned with developing stochastic delay mechanisms for efficient multicast protocols and for smooth mobile handover processes which are capable of preserving a given Quality of Service (QoS). In both applications the participating entities (receiver nodes or subscribers) sample a stochastic timer and generate load after a random delay. In this way, the load on the networking resources is evenly distributed which helps to maintain QoS communication. The optimal timer distributions have been sought in different p.d.f. families (e.g. exponential, power law and radial basis function) and the optimal parameter have been found in a recursive manner. Detailed simulations have demonstrated the improvement in performance both in the case of multicast and mobile handover applications.
Abstract: In this research saffron samples were prepared from
farms and sampling was done in four states contain : sampling from
fresh saffron of petal with forceps , sampling from fresh saffron of
petal by hands, sampling from dried sample by warm air in shadow,
sampling from dried sample which dried by dryer. Samples collected
and kept in sterile tubes and containers and carried to laboratory and
maintained until experiment. Microbial experiments were performed
to determine microbial load such as total count, Staphylococcus
aureus, coli form, E.coli, mold and yeast. Results showed that in
picking and drying stages the contamination amount increases in
saffron samples. There was a significant difference between the
microbial load of picked up saffron by forceps and by hands, and
also between dried saffron by warm air in shadow and by dryer.
Abstract: The objective of this paper is to propose an adaptive multi threshold for image segmentation precisely in object detection. Due to the different types of license plates being used, the requirement of an automatic LPR is rather different for each country. The proposed technique is applied on Malaysian LPR application. It is based on Multi Layer Perceptron trained by back propagation. The proposed adaptive threshold is introduced to find the optimum threshold values. The technique relies on the peak value from the graph of the number object versus specific range of threshold values. The proposed approach has improved the overall performance compared to current optimal threshold techniques. Further improvement on this method is in progress to accommodate real time system specification.
Abstract: In this paper, we have combined some spatial derivatives with the optimised time derivative proposed by Tam and Webb in order to approximate the linear advection equation which is given by = 0. Ôêé Ôêé + Ôêé Ôêé x f t u These spatial derivatives are as follows: a standard 7-point 6 th -order central difference scheme (ST7), a standard 9-point 8 th -order central difference scheme (ST9) and optimised schemes designed by Tam and Webb, Lockard et al., Zingg et al., Zhuang and Chen, Bogey and Bailly. Thus, these seven different spatial derivatives have been coupled with the optimised time derivative to obtain seven different finite-difference schemes to approximate the linear advection equation. We have analysed the variation of the modified wavenumber and group velocity, both with respect to the exact wavenumber for each spatial derivative. The problems considered are the 1-D propagation of a Boxcar function, propagation of an initial disturbance consisting of a sine and Gaussian function and the propagation of a Gaussian profile. It is known that the choice of the cfl number affects the quality of results in terms of dissipation and dispersion characteristics. Based on the numerical experiments solved and numerical methods used to approximate the linear advection equation, it is observed in this work, that the quality of results is dependent on the choice of the cfl number, even for optimised numerical methods. The errors from the numerical results have been quantified into dispersion and dissipation using a technique devised by Takacs. Also, the quantity, Exponential Error for Low Dispersion and Low Dissipation, eeldld has been computed from the numerical results. Moreover, based on this work, it has been found that when the quantity, eeldld can be used as a measure of the total error. In particular, the total error is a minimum when the eeldld is a minimum.
Abstract: The present study is concerned with the effect of
exciting boundary layer on cooling process in a gas-turbine blades.
The cooling process is numerically investigated. Observations show
cooling the first row of moving or stable blades leads to increase
their life-time. Results show that minimum temperature in cooling
line with exciting boundary layer is lower than without exciting.
Using block in cooling line of turbines' blade causes flow pattern and
stability in boundary layer changed that causes increase in heat
transfer coefficient. Results show at the location of block,
temperature of turbines' blade is significantly decreased. The k-ε
turbulence model is used.
Abstract: This paper presents a low cost design of heart beat monitoring device using reflectance mode PhotoPlethysmography (PPG). PPG is known for its simple construction, ease of use and cost effectiveness and can provide information about the changes in cardiac activity as well as aid in earlier non-invasive diagnostics. The proposed device is divided into three phases. First is the detection of pulses through the fingertip. The signal is then passed to the signal processing unit for the purpose of amplification, filtering and digitizing. Finally the heart rate is calculated and displayed on the computer using parallel port interface. The paper is concluded with prototyping of the device followed by verification procedure of the heartbeat signal obtained in laboratory setting.
Abstract: European Union candidate status provides a
strong motivation for decision-making in the candidate
countries in shaping the regional development policy where
there is an envisioned transfer of power from center to the
periphery. The process of Europeanization anticipates the
candidate countries configure their regional institutional
templates in the context of the requirements of the European
Union policies and introduces new instruments of incentive
framework of enlargement to be employed in regional
development schemes. It is observed that the contribution of
the local actors to the decision making in the design of the
allocation architectures enhances the efficiency of the funds
and increases the positive effects of the projects funded under
the regional development objectives. This study aims at
exploring the performances of the three regional development
grant schemes in Turkey, established and allocated under the
pre-accession process with a special emphasis given to the
roles of the national and local actors in decision-making for
regional development. Efficiency analyses have been
conducted using the DEA methodology which has proved to
be a superior method in comparative efficiency and
benchmarking measurements. The findings of this study as
parallel to similar international studies, provides that the
participation of the local actors to the decision-making in
funding contributes both to the quality and the efficiency of
the projects funded under the EU schemes.
Abstract: To identify an endothelial cell-specific promoter suitable for vascular-specific targeting, we tested five promoters in vitro--Tie2SE, Tie2LE, ICAM2, Flt-1 and vWF--for promoter activity and specificity in endothelial cells, smooth muscle cells and non-vascular resident cells as well as tissues. These promoters, except for vWF, exhibited good endothelial activity and specificity in vitro. In a syngenic heart transplantation model, the ICAM2 promoter was variably functional in coronary endothelial cells of donor hearts. Thus, the ICAM2, Flt-1, Tie2SE and Tie2LE promoters hold promise for endothelial-specific targeting, but in vitro expression may not predict in vivo expression.
Abstract: Due to the recovering global economy, enterprises are
increasingly focusing on logistics. Investing in logistic measures for
a production generates a large potential for achieving a good starting
point within a competitive field. Unlike during the global economic
crisis, enterprises are now challenged with investing available capital
to maximize profits. In order to be able to create an informed and
quantifiably comprehensible basis for a decision, enterprises need an
adequate model for logistically and monetarily evaluating measures
in production. The Collaborate Research Centre 489 (SFB 489) at the
Institute for Production Systems (IFA) developed a Logistic
Information System which provides support in making decisions and
is designed specifically for the forging industry. The aim of a project
that has been applied for is to now transfer this process in order to
develop a universal approach to logistically and monetarily evaluate
measures in production.
Abstract: This paper describes a new supervised fusion (hybrid)
electrocardiogram (ECG) classification solution consisting of a new
QRS complex geometrical feature extraction as well as a new version
of the learning vector quantization (LVQ) classification algorithm
aimed for overcoming the stability-plasticity dilemma. Toward this
objective, after detection and delineation of the major events of ECG
signal via an appropriate algorithm, each QRS region and also its
corresponding discrete wavelet transform (DWT) are supposed as
virtual images and each of them is divided into eight polar sectors.
Then, the curve length of each excerpted segment is calculated
and is used as the element of the feature space. To increase the
robustness of the proposed classification algorithm versus noise,
artifacts and arrhythmic outliers, a fusion structure consisting of
five different classifiers namely as Support Vector Machine (SVM),
Modified Learning Vector Quantization (MLVQ) and three Multi
Layer Perceptron-Back Propagation (MLP–BP) neural networks with
different topologies were designed and implemented. The new proposed
algorithm was applied to all 48 MIT–BIH Arrhythmia Database
records (within–record analysis) and the discrimination power of the
classifier in isolation of different beat types of each record was
assessed and as the result, the average accuracy value Acc=98.51%
was obtained. Also, the proposed method was applied to 6 number
of arrhythmias (Normal, LBBB, RBBB, PVC, APB, PB) belonging
to 20 different records of the aforementioned database (between–
record analysis) and the average value of Acc=95.6% was achieved.
To evaluate performance quality of the new proposed hybrid learning
machine, the obtained results were compared with similar peer–
reviewed studies in this area.
Abstract: Industrial radiography is a famous technique for the identification and evaluation of discontinuities, or defects, such as cracks, porosity and foreign inclusions found in welded joints. Although this technique has been well developed, improving both the inspection process and operating time, it does suffer from several drawbacks. The poor quality of radiographic images is due to the physical nature of radiography as well as small size of the defects and their poor orientation relatively to the size and thickness of the evaluated parts. Digital image processing techniques allow the interpretation of the image to be automated, avoiding the presence of human operators making the inspection system more reliable, reproducible and faster. This paper describes our attempt to develop and implement digital image processing algorithms for the purpose of automatic defect detection in radiographic images. Because of the complex nature of the considered images, and in order that the detected defect region represents the most accurately possible the real defect, the choice of global and local preprocessing and segmentation methods must be appropriated.
Abstract: Information is power. Geographical information is an
emerging science that is advancing the development of knowledge to
further help in the understanding of the relationship of “place" with
other disciplines such as crime. The researchers used crime data for
the years 2004 to 2007 from the Baguio City Police Office to
determine the incidence and actual locations of crime hotspots.
Combined qualitative and quantitative research methodology was
employed through extensive fieldwork and observation, geographic
visualization with Geographic Information Systems (GIS) and Global
Positioning Systems (GPS), and data mining. The paper discusses
emerging geographic visualization and data mining tools and
methodologies that can be used to generate baseline data for
environmental initiatives such as urban renewal and rejuvenation.
The study was able to demonstrate that crime hotspots can be
computed and were seen to be occurring to some select places in the
Central Business District (CBD) of Baguio City. It was observed that
some characteristics of the hotspot places- physical design and milieu
may play an important role in creating opportunities for crime. A list
of these environmental attributes was generated. This derived
information may be used to guide the design or redesign of the urban
environment of the City to be able to reduce crime and at the same
time improve it physically.
Abstract: As networking has become popular, Web-learning
tends to be a trend while designing a tool. Moreover, five-axis
machining has been widely used in industry recently; however, it has
potential axial table colliding problems. Thus this paper aims at
proposing an efficient web-learning collision detection tool on
five-axis machining. However, collision detection consumes heavy
resource that few devices can support, thus this research uses a
systematic approach based on web knowledge to detect collision. The
methodologies include the kinematics analyses for five-axis motions,
separating axis method for collision detection, and computer
simulation for verification. The machine structure is modeled as STL
format in CAD software. The input to the detection system is the
g-code part program, which describes the tool motions to produce the
part surface. This research produced a simulation program with C
programming language and demonstrated a five-axis machining
example with collision detection on web site. The system simulates the
five-axis CNC motion for tool trajectory and detects for any collisions
according to the input g-codes and also supports high-performance
web service benefiting from C. The result shows that our method
improves 4.5 time of computational efficiency, comparing to the
conventional detection method.
Abstract: This research contribution is drafted to present the
orbit design, orbit propagator and geomagnetic field estimator for the
nanosatellites specifically for the upcoming CUBESAT, ICUBE-1 of
the Institute of Space Technology (IST), Islamabad, Pakistan. The
ICUBE mission is designed for the low earth orbit at the approximate
height of 700KM. The presented research endeavor designs the
Keplarian elements for ICUBE-1 orbit while incorporating the
mission requirements and propagates the orbit using J2 perturbations,
The attitude determination system of the ICUBE-1 consists of
attitude determination sensors like magnetometer and sun sensor. The
Geomagnetic field estimator is developed according to the model of
International Geomagnetic Reference Field (IGRF) for comparing the
magnetic field measurements by the magnetometer for attitude
determination. The output of the propagator namely the Keplarians
position and velocity vectors and the magnetic field vectors are
compared and verified with the same scenario generated in the
Satellite Tool Kit (STK).