Abstract: The autonomous mobile robot was designed and implemented which was capable of navigating in the industrial environments and did a job of picking objects from variable height and delivering it to another location following a predefined trajectory. In developing country like Bangladesh industrial robotics is not very prevalent yet, due to the high installation cost. The objective of this project was to develop an autonomous mobile robot for industrial application using the available resources in the local market at lower manufacturing cost. The mechanical system of the robot was comprised of locomotion, gripping and elevation system. Grippers were designed to grip objects of a predefined shape. Cartesian elevation system was designed for vertical movement of the gripper. PIC18F452 microcontroller was the brain of the control system. The prototype autonomous robot was fabricated for relatively lower load than the industry and the performance was tested in a virtual industrial environment created within the laboratory to realize the effectiveness.
Abstract: Simplified coupled engine block-crankshaft models
based on beam theory provide an efficient substitute to engine
simulation in the design process. These models require accurate
definition of the main bearing stiffness. In this paper, an investigation
of this stiffness is presented. The clearance effect is studied using a
smooth bearing model. It is manifested for low shaft displacement.
The hydrodynamic assessment model shows that the oil film has no
stiffness for low loads and it is infinitely rigid for important loads.
The deformation stiffness is determined using a suitable finite
elements model based on real CADs. As a result, a main bearing
behaviour law is proposed. This behaviour law takes into account the
clearance, the hydrodynamic sustention and the deformation stiffness.
It ensures properly the transition from the configuration low rigidity
to the configuration high rigidity.
Abstract: The aim of this study was to investigate the effects of
supplementing the diluent of roosters' semen with different levels of
olive oil on motility, viability, morphology and acrosome integrity of
chicken spermatozoa after in vitro storage for up to 72 h. Semen was
collected from 60 White Layer males (62 wk of age) kept in
separated floor pens and randomly divided into six treatment groups
(10 males in each group). Experimental groups were as follows: T1
:fresh semen, T2 : semen extended 1:1 with Al – Daraji 2 diluent
(AD2D) alone, T3 – T6 :semen samples extended 1:1 with AD2D
supplemented with 2 ml, 4 ml, 6 ml or 8 ml of olive oil / 100 ml of
diluent, respectively. Semen samples were then stored at 5 °C for 24
h, 48 h or 72 h. There was a clear influence of diluent
supplementation with olive oil on the spermatozoa motility profile;
olive oil groups (T3, T4, T5 and T6) recorded the highest scores of
mass activity and individual motility during all storage periods
compared to T1 and T2 groups. In addition, the inclusion of olive oil
into semen diluent (T3, T4, T5 and T6) gave significantly higher
percentages of viable spermatozoa, normal morphologically
spermatozoa and intact acrosomes irrespective of storage period.
These results clearly show that supplementation the diluent of
roosters' semen with olive oil can improve semen quality when
semen samples in vitro stored at 5 °C for up to 72 h.
Abstract: The recent drive for use of performance-based methodologies in design and assessment of structures in seismic areas has significantly increased the demand for the development of reliable nonlinear inelastic static pushover analysis tools. As a result, the adaptive pushover methods have been developed during the last decade, which unlike their conventional pushover counterparts, feature the ability to account for the effect that higher modes of vibration and progressive stiffness degradation might have on the distribution of seismic storey forces. Even in advanced pushover methods, little attention has been paid to the Unsymmetric structures. This study evaluates the seismic demands for three dimensional Unsymmetric-Plan buildings determined by the Displacement-based Adaptive Pushover (DAP) analysis, which has been introduced by Antoniou and Pinho [2004]. The capability of DAP procedure in capturing the torsional effects due to the irregularities of the structures, is investigated by comparing its estimates to the exact results, obtained from Incremental Dynamic Analysis (IDA). Also the capability of the procedure in prediction the seismic behaviour of the structure is discussed.
Abstract: This paper presents a 24 watts SEPIC converter design
and control using microprocessor. SEPIC converter has advantages of
a wide input range and miniaturization caused by the low stress at
elements. There is also an advantage that the input and output are
isolated in MOSFET-off state. This paper presents the PID control
through the SEPIC converter transfer function using a DSP and the
protective circuit for fuel cell from the over-current and
inverse-voltage by using the characteristic of SEPIC converter. Then it
derives them through the experiments.
Abstract: Scheduling for the flexible job shop is very important
in both fields of production management and combinatorial
optimization. However, it quit difficult to achieve an optimal solution
to this problem with traditional optimization approaches owing to the
high computational complexity. The combining of several
optimization criteria induces additional complexity and new
problems. In this paper, a Pareto approach to solve the multi
objective flexible job shop scheduling problems is proposed. The
objectives considered are to minimize the overall completion time
(makespan) and total weighted tardiness (TWT). An effective
simulated annealing algorithm based on the proposed approach is
presented to solve multi objective flexible job shop scheduling
problem. An external memory of non-dominated solutions is
considered to save and update the non-dominated solutions during
the solution process. Numerical examples are used to evaluate and
study the performance of the proposed algorithm. The proposed
algorithm can be applied easily in real factory conditions and for
large size problems. It should thus be useful to both practitioners and
researchers.
Abstract: The amplitude response of infrared (IR) sensors
depends on the reflectance properties of the target. Therefore, in
order to use IR sensor for measuring distances accurately, prior
knowledge of the surface must be known. This paper describes the
Phong Illumination Model for determining the properties of a surface
and subsequently calculating the distance to the surface. The angular
position of the IR sensor is computed as normal to the surface for
simplifying the calculation. Ultrasonic (US) sensor can provide the
initial information on distance to obtain the parameters for this
method. In addition, the experimental results obtained by using
LabView are discussed. More care should be taken when placing the
objects from the sensors during acquiring data since the small change
in angle could show very different distance than the actual one.
Since stereo camera vision systems do not perform well under some
environmental conditions such as plain wall, glass surfaces, or poor
lighting conditions, the IR and US sensors can be used additionally to
improve the overall vision systems of mobile robots.
Abstract: In this paper, an image adaptive, invisible digital
watermarking algorithm with Orthogonal Polynomials based
Transformation (OPT) is proposed, for copyright protection of digital
images. The proposed algorithm utilizes a visual model to determine
the watermarking strength necessary to invisibly embed the
watermark in the mid frequency AC coefficients of the cover image,
chosen with a secret key. The visual model is designed to generate a
Just Noticeable Distortion mask (JND) by analyzing the low level
image characteristics such as textures, edges and luminance of the
cover image in the orthogonal polynomials based transformation
domain. Since the secret key is required for both embedding and
extraction of watermark, it is not possible for an unauthorized user to
extract the embedded watermark. The proposed scheme is robust to
common image processing distortions like filtering, JPEG
compression and additive noise. Experimental results show that the
quality of OPT domain watermarked images is better than its DCT
counterpart.
Abstract: The focus of this research is in the area of the soviet period and the mission of the Russian Orthodox Church in Kazakhstan in the XIX century. There was close connection of national customs and traditions with religious practices, outlooks and attitudes. In particular, such an approach has alleged estimation by Kazakh historians of the process of Christianization of the local population. Some of them are inclined to consider the small number of Christening Kazakhs as evidence that the Russian Orthodox Church didn’t achieve its mission. The number of historians who think that the church didn’t achieve its mission has thousand over the last centuries, however our calculations of the number of Kazakhs who became Orthodox Christian is much more than other historians think. Such Christians can be divided into 3 groups: Some remained Christian until their deaths, others had two faiths and the third hid their true religions, having returned to their former belief. Therefore, to define the exact amount of Christening Kazakhs represented a challenge. Some data does not create a clear picture of the level of Christianization, constant and accurate was not collected. The data appearing in reports of spiritual attendants and civil authorities is not always authentic. Article purpose is illumination and the analysis missionary activity of Russian Orthodox Church in Kazakhstan.
Abstract: In this paper, RSA encryption algorithm and its hardware
implementation in Xilinx-s Virtex Field Programmable Gate
Arrays (FPGA) is analyzed. The issues of scalability, flexible performance,
and silicon efficiency for the hardware acceleration of
public key crypto systems are being explored in the present work.
Using techniques based on the interleaved math for exponentiation,
the proposed RSA calculation architecture is compared to existing
FPGA-based solutions for speed, FPGA utilization, and scalability.
The paper covers the RSA encryption algorithm, interleaved multiplication,
Miller Rabin algorithm for primality test, extended Euclidean
math, basic FPGA technology, and the implementation details of
the proposed RSA calculation architecture. Performance of several
alternative hardware architectures is discussed and compared. Finally,
conclusion is drawn, highlighting the advantages of a fully flexible
& parameterized design.
Abstract: Argument over the use of particular method in interlanguage pragmatics has increased recently. Researchers argued the advantages and disadvantages of each method either natural or elicited. Findings of different studies indicated that the use of one method may not provide enough data to answer all its questions. The current study investigated the validity of using multimethod approach in interlanguage pragmatics to understand the development of requests in Arabic as a second language (Arabic L2). To this end, the study adopted two methods belong to two types of data sources: the institutional discourse (natural data), and the role play (elicited data). Participants were 117 learners of Arabic L2 at the university level, representing four levels (beginners, low-intermediate, highintermediate, and advanced). Results showed that using two or more methods in interlanguage pragmatics affect the size and nature of data.
Abstract: In this paper we investigate the influence of external
noise on the inference of network structures. The purpose of our
simulations is to gain insights in the experimental design of microarray
experiments to infer, e.g., transcription regulatory networks
from microarray experiments. Here external noise means, that the
dynamics of the system under investigation, e.g., temporal changes of
mRNA concentration, is affected by measurement errors. Additionally
to external noise another problem occurs in the context of microarray
experiments. Practically, it is not possible to monitor the mRNA
concentration over an arbitrary long time period as demanded by the
statistical methods used to learn the underlying network structure. For
this reason, we use only short time series to make our simulations
more biologically plausible.
Abstract: Abrasive Jet Machining is an Unconventional
machining process in which the metal is removed from brittle and
hard material in the form of micro-chips. With increase in need of
materials like ceramics, composites, in manufacturing of various
Mechanical & Electronic components, AJM has become a useful
technique for micro machining. The present study highlights the
influence of different parameters like Pressure, SOD, Time, Abrasive
grain size, nozzle diameter on the Metal removal of FRP (Fiber
Reinforced Polymer) composite by Abrasive jet machining. The
results of the Experiments conducted were analyzed and optimized
with TAGUCHI method of Optimization and ANOVA for Optimal
Value.
Abstract: Image mosaicing is a technique that permits to enlarge the field of view of a camera. For instance, it is employed to achieve panoramas with common cameras or even in scientific applications, to achieve the image of a whole culture in microscopical imaging. Usually, a mosaic of cell cultures is achieved through using automated microscopes. However, this is often performed in batch, through CPU intensive minimization algorithms. In addition, live stem cells are studied in phase contrast, showing a low contrast that cannot be improved further. We present a method to study the flat field from live stem cells images even in case of 100% confluence, this permitting to build accurate mosaics on-line using high performance algorithms.
Abstract: One approach to assess neural networks underlying the cognitive processes is to study Electroencephalography (EEG). It is relevant to detect various mental states and characterize the physiological changes that help to discriminate two situations. That is why an EEG (amplitude, synchrony) classification procedure is described, validated. The two situations are "eyes closed" and "eyes opened" in order to study the "alpha blocking response" phenomenon in the occipital area. The good classification rate between the two situations is 92.1 % (SD = 3.5%) The spatial distribution of a part of amplitude features that helps to discriminate the two situations are located in the occipital regions that permit to validate the localization method. Moreover amplitude features in frontal areas, "short distant" synchrony in frontal areas and "long distant" synchrony between frontal and occipital area also help to discriminate between the two situations. This procedure will be used for mental fatigue detection.
Abstract: Children with hemiplgic cerebral palsy often walk
with diminished reciprocal arm swing so the purpose of this study
was to describe kinematic characteristics in children with hemiplegic
cerebral palsy (CP) during the gait suphases, and find if there is a
correlation between upper(shoulder and elbow) and lower(hip, knee,
and ankle) limb joints either in involved or uninvolved.48 children
with hemiplegic cerebral palsy (18boys, 30girls) with an average age
of (5.1±0.87) years were selected randomly to evaluate joint angles
during gait by 3D motion analysis system with 6 pro reflex cameras
in a sagittal plane for both sides of the body. The results showed
increased shoulder and elbow flexion, increased hip angular
displacement, decreased knee and ankle arcs during gait cycle, also
there is correlation between shoulder and elbow to hip, knee, and
ankle joints during various subphases of gait.
Abstract: Islamic banking is one the most blossoming doctrine in
economic system of the world. The Fast growing awareness about
Islamic financial system has brought strong feeling to Muslims to
confront the western interest-based economic cycle. The Islamic
economic system is emerging as a reliable alternative to the interest
based system. This study is proposed to ascertain the motivational
factors encouraging people to go for Islamic banking in Pakistan.
These pulsing factors are determined by generation of hypothesis that
there are certain factors which are urging people to opt Islamic
banking system and to see the differences in their ranking by applying
Friedman test. These factors include: Economically derived factors
such as stability of Islamic banks in crisis, profit and loss sharing
doctrine and equity sharing etc. This study also highlights the
religiously derived factors such as interest free banking, Shariah
tenets and supervisory of Islamic Shariah board and sociopsychological
factors.
Abstract: This paper presents a ray tracing simulation technique for characterize the radiowave propagation inside building. The implementation of an algorithm capable of enumerating a large number of propagation paths in interactive time for the special case of 2.5D. The effective dielectric constants of the building structure in the simulations are indicated. The study describes an efficient 2.5D model of ray tracing algorithm were compared with 3D model. The result of the first investigations is that the environment of the indoor wave significantly changes as we change the electric parameters of material constructions. A detailed analysis of the dependence of the indoor wave on the wideband characteristics of the channel: root mean square (RMS) delay spread characteristics and Mean excess delay, is also investigated.
Abstract: Nowadays, the performance required for concrete
structures is more complicated and diversified. Self-compacting
concrete is a fluid mixture suitable for placing in structures with
congested reinforcement without vibration. Self-compacting concrete
development must ensure a good balance between deformability and
stability. Also, compatibility is affected by the characteristics of
materials and the mix proportions; it becomes necessary to evolve a
procedure for mix design of SCC.
This paper presents an experimental procedure for the design of
self-compacting concrete mixes with different water-cement ratios
(w/c) and other constant ratios by local materials. The test results for
acceptance characteristics of self-compacting concrete such as slump
flow, V-funnel and L-Box are presented. Further, compressive
strength, tensile strength and modulus of elasticity of specimens were
also determined and results are included here
Abstract: the cursive nature of the Arabic writing makes it
difficult to accurately segment characters or even deal with the whole
word efficiently. Therefore, in this paper, a printed Arabic sub-word
recognition system is proposed. The suggested algorithm utilizes
geometrical moments as descriptors for the separated sub-words.
Three types of moments are investigated and applied to the printed
sub-word images after dividing each image into multiple parts using
windowing. Since moments are global descriptors, the windowing
mechanism allows the moments to be applied to local regions of the
sub-word. The local-global mixture of the proposed scheme increases
the discrimination power of the moments while keeping the
simplicity and ease of use of moments.