Abstract: This paper describes the development of an
autonomous robot for painting the interior walls of buildings. The
robot consists of a painting arm with an end effector roller that scans
the walls vertically and a mobile platform to give horizontal feed to
paint the whole area of the wall. The painting arm has a planar twolink
mechanism with two joints. Joints are driven from a stepping
motor through a ball screw-nut mechanism. Four ultrasonic sensors
are attached to the mobile platform and used to maintain a certain
distance from the facing wall and to avoid collision with side walls.
When settled on adjusted distance from the wall, the controller starts
the painting process autonomously. Simplicity, relatively low weight
and short painting time were considered in our design. Different
modules constituting the robot have been separately tested then
integrated. Experiments have shown successfulness of the robot in its
intended tasks.
Abstract: It is expected that ubiquitous era will come soon. A ubiquitous environment has features like peer-to-peer and nomadic environments. Such features can be represented by peer-to-peer systems and mobile ad-hoc networks (MANETs). The features of P2P systems and MANETs are similar, appealing for implementing P2P systems in MANET environment. It has been shown that, however, the performance of the P2P systems designed for wired networks do not perform satisfactorily in mobile ad-hoc environment. Subsequently, this paper proposes a method to improve P2P performance using cross-layer design and the goodness of a node as a peer. The proposed method uses routing metric as well as P2P metric to choose favorable peers to connect. It also utilizes proactive approach for distributing peer information. According to the simulation results, the proposed method provides higher query success rate, shorter query response time and less energy consumption by constructing an efficient overlay network.
Abstract: In this survey the process of crack propagation at the
toe of concrete gravity dam is investigated by applying principals
and criteria of linear elastic fracture mechanic. Simulating process of
earthquake conditions for three models of dam with different
geometrical condition, in empty reservoir under plain stress is
calculated through special fracture mechanic software FRANNC2D
[1] for determining fracture mechanic criteria. The outcomes showed
that in spite of the primary expectations, the simultaneous existence
of fillet in both toe and heel area (model 3), the rate of maximum
principal stress has not been decreased; however, even the maximum
principal stress has increased, so it caused stress intensity factors
increase which is undesirable. On the other hand, the dam with heel
fillet has shown the best attitude and it is because of items like
decreasing the rates of maximum and minimum principal stresses and
also is related to decreasing the rates of stress intensity factors for 1st
& 2nd modes of the model.
Abstract: Mobile Ad Hoc network is an infrastructure less
network which operates with the coordination of each node. Each node
believes to help another node, by forwarding its data to/from another
node. Unlike a wired network, nodes in an ad hoc network are resource
(i.e. battery, bandwidth computational capability and so on)
constrained. Such dependability of one node to another and limited
resources of nodes can result in non cooperation by any node to
accumulate its resources. Such non cooperation is known as selfish
behavior.
This paper discusses the performance analysis of very well known
MANET single-path (i.e. AODV) and multi-path (i.e. AOMDV)
routing protocol, in the presence of selfish behaviors. Along with
existing selfish behaviors, a new variation is also studied. Extensive
simulations were carried out using ns-2 and the study concluded that
the multi-path protocol (i.e. AOMDV) with link disjoint configuration
outperforms the other two configurations.
Abstract: The research investigates the “impact of VLE on mathematical concepts acquisition of the special education needs (SENs) students at KS4 secondary education sector" in England. The overall aim of the study is to establish possible areas of difficulties to approach for above or below knowledge standard requirements for KS4 students in the acquisition and validation of basic mathematical concepts. A teaching period, in which virtual learning environment (Fronter) was used to emphasise different mathematical perception and symbolic representation was carried out and task based survey conducted to 20 special education needs students [14 actually took part]. The result shows that students were able to process information and consider images, objects and numbers within the VLE at early stages of acquisition process. They were also able to carry out perceptual tasks but with limiting process of different quotient, thus they need teacher-s guidance to connect them to symbolic representations and sometimes coach them through. The pilot study further indicates that VLE curriculum approaches for students were minutely aligned with mathematics teaching which does not emphasise the integration of VLE into the existing curriculum and current teaching practice. There was also poor alignment of vision regarding the use of VLE in realisation of the objectives of teaching mathematics by the management. On the part of teacher training, not much was done to develop teacher-s skills in the technical and pedagogical aspects of VLE that is in-use at the school. The classroom observation confirmed teaching practice will find a reliance on VLE as an enhancer of mathematical skills, providing interaction and personalisation of learning to SEN students.
Abstract: Natural Language Understanding Systems (NLU) will not be widely deployed unless they are technically mature and cost effective to develop. Cost effective development hinges on the availability of tools and techniques enabling the rapid production of NLU applications through minimal human resources. Further, these tools and techniques should allow quick development of applications in a user friendly way and should be easy to upgrade in order to continuously follow the evolving technologies and standards. This paper presents a visual tool for the structuring and editing of dialog forms, the key element of driving conversation in NLU applications based on IBM technology. The main focus is given on the basic component used to describe Human – Machine interactions of that kind, the Dialogue Manager. In essence, the description of a tool that enables the visual representation of the Dialogue Manager mainly during the implementation phase is illustrated.
Abstract: All the geophysical phenomena including river
networks and flow time series are fractal events inherently and fractal
patterns can be investigated through their behaviors. A non-linear
system like a river basin can well be analyzed by a non-linear
measure such as the fractal analysis. A bilateral study is held on the
fractal properties of the river network and the river flow time series.
A moving window technique is utilized to scan the fractal properties
of them. Results depict both events follow the same strategy
regarding to the fractal properties. Both the river network and the
time series fractal dimension tend to saturate in a distinct value.
Abstract: Wireless capsule Endoscopy (WCE) has rapidly
shown its wide applications in medical domain last ten years
thanks to its noninvasiveness for patients and support for thorough
inspection through a patient-s entire digestive system including
small intestine. However, one of the main barriers to efficient
clinical inspection procedure is that it requires large amount of
effort for clinicians to inspect huge data collected during the
examination, i.e., over 55,000 frames in video. In this paper, we
propose a method to compute meaningful motion changes of
WCE by analyzing the obtained video frames based on regional
optical flow estimations. The computed motion vectors are used to
remove duplicate video frames caused by WCE-s imaging nature,
such as repetitive forward-backward motions from peristaltic
movements. The motion vectors are derived by calculating
directional component vectors in four local regions. Our
experiments are performed on small intestine area, which is of
main interest to clinical experts when using WCEs, and our
experimental results show significant frame reductions comparing
with a simple frame-to-frame similarity-based image reduction
method.
Abstract: This study describes the preparation of a novel proton
conducting membranes based on bacterial cellulose (BC) modified by
grafting of 2-acrylamido-2-methyl-1 -propanesulfonic acid (AMPS)
through UV-induced graft polymerization. These AMPS-g-BC
membranes have been characterized by various techniques including
FTIR, SEM and TGA, to find their successful grafting of AMPS on
BC, surface morphology and thermal stability, respectively. Physical
properties of AMPS-g-BC membranes have been assessed in terms of
Lamda value( λ ), ion exchange capacity(IEC) and proton
conductivity. The relationship between degree of grafting and AMPS
concentration used for grafting has been determined by weight gain
method. An optimum proton conductivity equal to 2.89x10-2 S cm-1
and IEC value equal to 1.79 mmol g-1 have been obtained when 20
wt% AMPS concentration is used for grafting (i.e. the corresponding
membrane is notated as AMPS20-g-BC).
Abstract: This paper describes the design considerations of an
experimental setup for research and exploring the drives of batteryfed
electric vehicles. Effective setup composition and its components
are discussed. With experimental setup described in this paper,
durability and functional tests can be procured to the customers.
Multiple experiments are performed in the form of steady-state
system exploring, acceleration programs, multi-step tests (speed
control, torque control), load collectives or close-to-reality driving
tests (driving simulation). Main focus of the functional testing is on
the measurements of power and energy efficiency and investigations
in driving simulation mode, which are used for application purposes.
In order to enable the examination of the drive trains beyond
standard modes of operation, different other parameters can be
studied also.
Abstract: ZnO-SnO2 i.e. Zinc-Tin-Oxide (ZTO) thin films were
deposited on glass substrate with varying concentrations (ZnO:SnO2
- 100:0, 90:10, 70:30 and 50:50 wt.%) at room temperature by flash
evaporation technique. These deposited ZTO film were annealed at
450 0C in vacuum. These films were characterized to study the effect
of annealing on the structural, electrical, and optical properties.
Atomic force microscopy (AFM) and Scanning electron microscopy
(SEM) images manifest the surface morphology of these ZTO thin
films. The apparent growth of surface features revealed the formation
of nanostructure ZTO thin films. The small value of surface
roughness (root mean square RRMS) ensures the usefulness in
optical coatings. The sheet resistance was also found to be decreased
for both types of films with increasing concentration of SnO2. The
optical transmittance found to be decreased however blue shift has
been observed after annealing.
Abstract: Business and IT alignment has continued as a
top concern for business and IT executives for almost three
decades. Many researchers have conducted empirical studies on
the relationship between business-IT alignment and performance.
Yet, these approaches, lacking a social perspective, have had little
impact on sustaining performance and competitive advantage. In
addition to the limited alignment literature that explores
organisational learning that is represented in shared understanding,
communication, cognitive maps and experiences.
Hence, this paper proposes an integrated process that enables
social and intellectual dimensions through the concept of
organisational learning. In particular, the feedback and feedforward
process which provide a value creation across dynamic
multilevel of learning. This mechanism enables on-going
effectiveness through development of individuals, groups and
organisations, which improves the quality of business and IT
strategies and drives to performance.
Abstract: Due to insufficient frequency band and tremendous growth of the mobile users, complex computation is needed for the use of resources. Long distance communication began with the introduction of telegraphs and simple coded pulses, which were used to transmit short messages. Since then numerous advances have rendered reliable transfer of information both easier and quicker. Wireless network refers to any type of computer network that is wireless, and is commonly associated with a telecommunications network whose interconnections between nodes is implemented without the use of wires. Wireless network can be broadly categorized in infrastructure network and infrastructure less network. Infrastructure network is one in which we have a base station to serve the mobile users and in the infrastructure less network is one in which no infrastructure is available to serve the mobile users this kind of networks are also known as mobile Adhoc networks. In this paper we have simulated the result for different scenarios with protocols like AODV and DSR; we simulated the result for throughput, delay and receiving traffic in the given scenario.
Abstract: Two different superhydrophobic surfaces were
elaborated and their oil repellency behavior was evaluated using
several liquid with different surface tension. A silicone rubber/SiO2
nanocomposite coated (A) on aluminum substrate by “spin-coating"
and the sample B was an anodized aluminum surface covered by
Teflon-like coating. A high static contact angle about ∼162° was
measured for two prepared surfaces on which the water droplet rolloff.
Scanning electron microscopy (SEM) showed the presence of
micro/nanostructures for both sample A and B similar to that of lotus
leaf.
However the sample A presented significantly different behaviour
of wettability against the low surface tension liquid. Sample A has
been wetted totally by oil (dodecan) droplet while sample B showed
oleophobic behaviour. Oleophobic property of Teflon like coating
can be contributed to the presence of CF2 and CF3 functional group
which was shown by XPS analysis.
Abstract: The three-dimensional incompressible flow past a
rectangular open cavity is investigated, where the aspect ratio of the
cavity is considered as 4. The principle objective is to use large-eddy
simulation to resolve and control the large-scale structures, which are
largely responsible for flow oscillations in a cavity. The flow past an
open cavity is very common in aerospace applications and can be a
cause of acoustic source due to hydrodynamic instability of the shear
layer and its interactions with the downstream edge. The unsteady
Navier-stokes equations have been solved on a staggered mesh using
a symmetry-preserving central difference scheme. Synthetic jet has
been used as an active control to suppress the cavity oscillations in
wake mode for a Reynolds number of ReD = 3360. The effect of
synthetic jet has been studied by varying the jet amplitude and
frequency, which is placed at the upstream wall of the cavity. The
study indicates that there exits a frequency band, which is larger than
a critical value, is effective in attenuating cavity oscillations when
blowing ratio is more than 1.0.
Abstract: This paper is concerned with the existence of a linear copositive Lyapunov function(LCLF) for a special class of switched positive linear systems(SPLSs) composed of continuousand discrete-time subsystems. Firstly, by using system matrices, we construct a special kind of matrices in appropriate manner. Secondly, our results reveal that the Hurwitz stability of these matrices is equivalent to the existence of a common LCLF for arbitrary finite sets composed of continuous- and discrete-time positive linear timeinvariant( LTI) systems. Finally, a simple example is provided to illustrate the implication of our results.
Abstract: In the traditional concept of product life cycle management, the activities of design, manufacturing, and assembly are performed in a sequential way. The drawback is that the considerations in design may contradict the considerations in manufacturing and assembly. The different designs of components can lead to different assembly sequences. Therefore, in some cases, a good design may result in a high cost in the downstream assembly activities. In this research, an integrated design evaluation and assembly sequence planning model is presented. Given a product requirement, there may be several design alternative cases to design the components for the same product. If a different design case is selected, the assembly sequence for constructing the product can be different. In this paper, first, the designed components are represented by using graph based models. The graph based models are transformed to assembly precedence constraints and assembly costs. A particle swarm optimization (PSO) approach is presented by encoding a particle using a position matrix defined by the design cases and the assembly sequences. The PSO algorithm simultaneously performs design evaluation and assembly sequence planning with an objective of minimizing the total assembly costs. As a result, the design cases and the assembly sequences can both be optimized. The main contribution lies in the new concept of integrated design evaluation and assembly sequence planning model and the new PSO solution method. The test results show that the presented method is feasible and efficient for solving the integrated design evaluation and assembly planning problem. In this paper, an example product is tested and illustrated.
Abstract: This paper proposes an implementation for the
directed diffusion paradigm aids in studying this paradigm-s
operations and evaluates its behavior according to this
implementation. The directed diffusion is evaluated with respect to
the loss percentage, lifetime, end-to-end delay, and throughput.
From these evaluations some suggestions and modifications are
proposed to improve the directed diffusion behavior according to
this implementation with respect to these metrics. The proposed
modifications reflect the effect of local path repair by introducing a
technique called Loop-free Local Path Repair (LLPR) which
improves the directed diffusion behavior especially with respect to
packet loss percentage by about 92.69%. Also LLPR improves the
throughput and end-to-end delay by about 55.31% and 14.06%
respectively, while the lifetime decreases by about 29.79%.
Abstract: M. Kemal Ataturk was a great leader who was fond of art and he had displayed his being fond of art many times. In his speeches and writings you can see that he had showed his approval to art and the importance of artists and art for the society. During the foundation of republic, he also wanted renovation in art as in other fields and ordered many novelties both in art and society. One of the greatest steps in realizing this was to prepare a national Turkish opera. In this study, it was studied how a Turkish opera, Özsoy was prepared in the context of social and political conditions of that time and what kind of processes it passed. As a result, it is seen that there was two main aims for Ataturk with this opera. First, Ataturk wanted to abolish the sectarian conflict between Iran and Turkey going on for centuries. The second and maybe the most important is that he wanted to make a revolution in the field of art and aimed to reach the level of civilized countries.
Abstract: Multi-level voltage source inverters offer several
advantages such as; derivation of a refined output voltage with
reduced total harmonic distortion (THD), reduction of voltage ratings
of the power semiconductor switching devices and also the reduced
electro-magnetic-interference problems etc. In this paper, new
carrier-overlapped phase-disposition or sub-harmonic sinusoidal
pulse width modulation (CO-PD-SPWM) and also the carrieroverlapped
phase-disposition space vector modulation (CO-PDSVPWM)
schemes for a six-level diode-clamped inverter topology
are proposed. The principle of the proposed PWM schemes is similar
to the conventional PD-PWM with a little deviation from it in the
sense that the triangular carriers are all overlapped. The overlapping
of the triangular carriers on one hand results in an increased number
of switchings, on the other hand this facilitates an improved spectral
performance of the output voltage. It is demonstrated through
simulation studies that the six-level diode-clamped inverter with the
use of CO-PD-SPWM and CO-PD-SVPWM proposed in this paper is
capable of generating multiple levels in its output voltage. The
advantages of the proposed PWM schemes can be derived to benefit,
especially at lower modulation indices of the inverter and hence this
aspect of the proposed PWM schemes can be well exploited in high
power applications requiring low speeds of operation of the drive.