Abstract: In this work a visual and reactive contour following
behaviour is learned by reinforcement. With artificial vision the
environment is perceived in 3D, and it is possible to avoid obstacles
that are invisible to other sensors that are more common in mobile
robotics. Reinforcement learning reduces the need for intervention in
behaviour design, and simplifies its adjustment to the environment,
the robot and the task. In order to facilitate its generalisation to other
behaviours and to reduce the role of the designer, we propose a
regular image-based codification of states. Even though this is much
more difficult, our implementation converges and is robust. Results
are presented with a Pioneer 2 AT on a Gazebo 3D simulator.
Abstract: A simple analytical model has been developed to
optimize biasing conditions for obtaining maximum linearity among
lattice-matched, pseudomorphic and metamorphic HEMT types as
well as enhancement and depletion HEMT modes. A nonlinear
current-voltage model has been simulated based on extracted data to
study and select the most appropriate type and mode of HEMT in
terms of a given gate-source biasing voltage within the device so as
to employ the circuit for the highest possible output current or
voltage linear swing. Simulation results can be used as a basis for the
selection of optimum gate-source biasing voltage for a given type
and mode of HEMT with regard to a circuit design. The
consequences can also be a criterion for choosing the optimum type
or mode of HEMT for a predetermined biasing condition.
Abstract: New advancement of technology and never satisfying demands of the civilization are putting huge pressure on the natural fuel resources and these resources are at a constant threat to its sustainability. To get the best out of the automobile, the optimum balance between performance and fuel economy is important. In the present state of art, either of the above two aspects are taken into mind while designing and development process which puts the other in the loss as increase in fuel economy leads to decrement in performance and vice-versa. In-depth observation of the vehicle dynamics apparently shows that large amount of energy is lost during braking and likewise large amount of fuel is consumed to reclaim the initial state, this leads to lower fuel efficiency to gain the same performance. Current use of Kinetic Energy Recovery System is only limited to sports vehicles only because of the higher cost of this system. They are also temporary in nature as power can be squeezed only during a small time duration and use of superior parts leads to high cost, which results on concentration on performance only and neglecting the fuel economy. In this paper Kinetic Energy Recovery System for storing the power and then using the same while accelerating has been discussed. The major storing element in this system is a Flat Spiral Spring that will store energy by compression and torsion.
The use of spring ensure the permanent storage of energy until used by the driver unlike present mechanical regeneration system in which the energy stored decreases with time and is eventually lost. A combination of internal gears and spur gears will be used in order to make the energy release uniform which will lead to safe usage. The system can be used to improve the fuel efficiency by assisting in overcoming the vehicle’s inertia after braking or to provide instant acceleration whenever required by the driver. The performance characteristics of the system including response time, mechanical efficiency and overall increase in efficiency are demonstrated. This technology makes the KERS (Kinetic Energy Recovery System) more flexible and economical allowing specific application while at the same time increasing the time frame and ease of usage.
Abstract: Wireless Sensor Networks consist of small battery
powered devices with limited energy resources. once deployed, the
small sensor nodes are usually inaccessible to the user, and thus
replacement of the energy source is not feasible. Hence, One of the
most important issues that needs to be enhanced in order to improve
the life span of the network is energy efficiency. to overcome this
demerit many research have been done. The clustering is the one of
the representative approaches. in the clustering, the cluster heads
gather data from nodes and sending them to the base station. In this
paper, we introduce a dynamic clustering algorithm using genetic
algorithm. This algorithm takes different parameters into
consideration to increase the network lifetime. To prove efficiency of
proposed algorithm, we simulated the proposed algorithm compared
with LEACH algorithm using the matlab
Abstract: The 9/11 suicide attacks in New York, Washington, D.C., and Pennsylvania, triggered a number of security responses both in the United States of America and other Countries in the World. Kenya, which is an ally and a close partner to North America and Europe, was not left behind. While many states had been parties to numerous terrorism conventions, their response in implementing them had been slow and needed this catalyst. This special case offered a window of opportunity for many “security conscious" regimes in cementing their legal-criminological and political security apparatus. At the international level, the 9/11 case led to the hasty adoption of Security Council resolution 1373 in 2001, which called upon states to adopt wide-ranging and comprehensive steps and strategies to combat international terrorism and to become parties to the relevant international conventions and protocols relating to terrorism. Since then, Kenya has responded with speed in devising social-legal-criminological-political actions.
Abstract: Geopolymer cement was evaluated as wellbore sealing material for carbon dioxide geosequestration application. Curing of cement system in saline water and strength testing in triaxial stress state condition under lateral confinement is relevant to primary cementing in CO2 geosequestration wellbore in saline aquifer. Geopolymer cement was cured in saline water (both at ambient conditions for 28 days and heated (60°C) conditions for 12 hours) and tested for triaxial strength at different levels of lateral confinement. Normal water and few other curing techniques were also studied both for geopolymer and API ‘G’ cement. Results reported were compared to evaluate the suitability of saline water for curing of geopolymer cement. Unconfined compression test results showed higher strength for curing in saline water than normal water. Besides, testing strength under lateral confinement demonstrated the material failure behavior from brittle to plastic.
Abstract: A numerical study on the turbulent flow and heat
transfer characteristics in the rectangular channel with different types
of baffles is carried out. The inclined baffles have the width of 19.8
cm, the square diamond type hole having one side length of 2.55 cm,
and the inclination angle of 5o. Reynolds number is varied between
23,000 and 57,000. The SST turbulence model is applied in the
calculation. The validity of the numerical results is examined by the
experimental data. The numerical results of the flow field depict that
the flow patterns around the different baffle type are entirely different
and these significantly affect the local heat transfer characteristics.
The heat transfer and friction factor characteristics are significantly
affected by the perforation density of the baffle plate. It is found that
the heat transfer enhancement of baffle type II (3 hole baffle) has the
best values.
Abstract: A prototype of an anomaly detection system was
developed to automate process of recognizing an anomaly of
roentgen image by utilizing fuzzy histogram hyperbolization image
enhancement and back propagation artificial neural network.
The system consists of image acquisition, pre-processor, feature
extractor, response selector and output. Fuzzy Histogram
Hyperbolization is chosen to improve the quality of the roentgen
image. The fuzzy histogram hyperbolization steps consist of
fuzzyfication, modification of values of membership functions and
defuzzyfication. Image features are extracted after the the quality of
the image is improved. The extracted image features are input to the
artificial neural network for detecting anomaly. The number of nodes
in the proposed ANN layers was made small.
Experimental results indicate that the fuzzy histogram
hyperbolization method can be used to improve the quality of the
image. The system is capable to detect the anomaly in the roentgen
image.
Abstract: Australia, while being a large and eager consumer of
innovative and cutting edge Information and Communication
Technologies (ICT), continues to struggle to remain a leader in
Technological Innovation. This paper has two main contributions to
address certain aspects of this complex issue. The first being the
current findings of an ongoing research project on Information and
Innovation Management in the Australian Information and
Communication Technologies (ICT) sector. The major issues being
considered by the project include: investigation of the possible
inherent entrepreneurial nature of ICT; how to foster ICT innovation;
and examination of the inherent difficulties currently found within
the ICT industry of Australia in regards to supporting the
development of innovative and creative ideas. The second major
contribution is details of the I.-C.A.N. (Innovation by Collaborative
Anonymous Networking) software application information
management tool created and evolving in our research group. I-CAN,
besides having a positive reinforcement acronym, is aimed at
facilitating productive collaborative innovation in an Australian
workplace. Such a work environment is frequently subjected to
cultural influences such as the 'tall poppy syndrome' and 'negative'
or 'unconstructive' peer-pressure. There influences are frequently
seen as inhibitors to employee participation, entrepreneurship and
innovation.
Abstract: The leaching rate of 137Cs from spent mix bead (anion and cation) exchange resins in a cement-bentonite matrix has been studied. Transport phenomena involved in the leaching of a radioactive material from a cement-bentonite matrix are investigated using three methods based on theoretical equations. These are: the diffusion equation for a plane source an equation for diffusion coupled to a firstorder equation and an empirical method employing a polynomial equation. The results presented in this paper are from a 25-year mortar and concrete testing project that will influence the design choices for radioactive waste packaging for a future Serbian radioactive waste disposal center.
Abstract: In this study two series of self compacting concrete
mixtures were prepared with 100% coarse recycled concrete
aggregates and different percentages of 0%, 20%, 40%, 60%, 80%
and 100% fine recycled concrete aggregates. In series I and II the
water to binder ratios were 0.50 and 0.45, respectively. The cement
content was kept 350
3 m
kg for those mixtures that don't have any
Nano-Silica. To improve the compressive strength of samples, Nano-
Silica replaced with 10% of cement weight in concrete mixtures. By
doing the tests, the results showed that, adding Nano-silica to the
samples with less percentage of fine recycled concrete aggregates,
lead to more increase on the compressive strength.
Abstract: Limited infrastructure development on peats and
organic soils is a serious geotechnical issues common to many
countries of the world especially Malaysia which distributed 1.5 mill
ha of those problematic soil. These soils have high water content and
organic content which exhibit different mechanical properties and
may also change chemically and biologically with time. Constructing
structures on peaty ground involves the risk of ground failure and
extreme settlement. Nowdays, much efforts need to be done in
making peatlands usable for construction due to increased landuse.
Deep mixing method employing cement as binders, is generally used
as measure again peaty/ organic ground failure problem. Where the
technique is widely adopted because it can improved ground
considerably in a short period of time. An understanding of
geotechnical properties as shear strength, stiffness and compressibility
behavior of these soils was requires before continues construction on
it. Therefore, 1- 1.5 meter peat soil sample from states of Johor and
an organic soil from Melaka, Malaysia were investigated. Cement
were added to the soil in the pre-mixing stage with water cement ratio
at range 3.5,7,14,140 for peats and 5,10,30 for organic soils,
essentially to modify the original soil textures and properties. The
mixtures which in slurry form will pour to polyvinyl chloride (pvc)
tube and cured at room temperature 250C for 7,14 and 28 days.
Laboratory experiments were conducted including unconfined
compressive strength and bender element , to monitor the improved
strength and stiffness of the 'stabilised mixed soils'. In between,
scanning electron miscroscopic (SEM) were observations to
investigate changes in microstructures of stabilised soils and to
evaluated hardening effect of a peat and organic soils stabilised
cement. This preliminary effort indicated that pre-mixing peat and
organic soils contributes in gaining soil strength while help the
engineers to establish a new method for those problematic ground
improvement in further practical and long term applications.
Abstract: A new analysis of perceptual speech enhancement is
presented. It focuses on the fact that if only noise above the masking
threshold is filtered, then noise below the masking threshold, but
above the absolute threshold of hearing, can become audible after the
masker filtering. This particular drawback of some perceptual filters,
hereafter called the maskee-to-audible-noise (MAN) phenomenon,
favours the emergence of isolated tonals that increase musical noise.
Two filtering techniques that avoid or correct the MAN phenomenon
are proposed to effectively suppress background noise without introducing
much distortion. Experimental results, including objective
and subjective measurements, show that these techniques improve
the enhanced speech quality and the gain they bring emphasizes the
importance of the MAN phenomenon.
Abstract: This paper presents an intelligent speed control
system based on fuzzy logic for a voltage source PWM inverter-fed
indirect vector controlled induction motor drive. Traditional indirect
vector control system of induction motor introduces conventional PI
regulator in outer speed loop; it is proved that the low precision of the
speed regulator debases the performance of the whole system. To
overcome this problem, replacement of PI controller by an intelligent
controller based on fuzzy set theory is proposed. The performance of
the intelligent controller has been investigated through digital
simulation using MATLAB-SIMULINK package for different
operating conditions such as sudden change in reference speed and
load torque. The simulation results demonstrate that the performance
of the proposed controller is better than that of the conventional PI
controller.
Abstract: Traffic enforcement units (the Police) are partly
responsible for the severity and frequency of the traffic accidents via
the effectiveness of their safety measures. The Police claims that the
reductions in accidents and their severities occur largely by their
timely interventions at the black spots, through traffic management
or temporary changes in the road design (guiding, reducing speeds
and eliminating sight obstructions, etc.). Yet, some other external
factors than the Police measures may intervene into which such
claims require a statistical confirmation. In order to test the net
impact of the Police contribution in the reduction of the number of
crashes, Chi square test was applied for 25 spots (streets and
intersections) and an average evaluation was achieved for general
conclusion in the case study of Izmir city. Separately, the net impact
of economic crisis in the reduction of crashes is assessed by the
trend analysis for the case of the economic crisis with the probable
reduction effects on the trip generation or modal choice. Finally, it
was proven that the Police measures were effective to some degree as
they claimed, though the economic crisis might have only negligible
contribution to the reductions in the same period observed.
Abstract: The launching nose plays an important role in the
incremental launching construction. The parameters of the launching
nose essentially affect the internal forces of the girder during the
construction. The appropriate parameters can decrease the internal
forces in the girder and save the material and reduce the cost. The
simplified structural model, which is made with displacement method
according to the characteristic of incremental launching construction
and the variation rule of the internal forces, calculates and analyzes the
effect of the length, the rigidity and weight of launch nose on the
internal forces of girder during the incremental launching
construction. The method, which can calculate the launching nose
parameters for the optimum incremental launching construction, is
achieved. This method is simple, reliable and easy for practical use.
Abstract: Presented herein is an assessment of current nonlinear
static procedures (NSPs) for seismic evaluation of bucklingrestrained
braced frames (BRBFs) which have become a favorable
lateral-force resisting system for earthquake resistant buildings. The
bias and accuracy of modal, improved modal pushover analysis
(MPA, IMPA) and mass proportional pushover (MPP) procedures
are comparatively investigated when they are applied to BRBF
buildings subjected to two sets of strong ground motions. The
assessment is based on a comparison of seismic displacement
demands such as target roof displacements, peak floor/roof
displacements and inter-story drifts. The NSP estimates are compared
to 'exact' results from nonlinear response history analysis (NLRHA).
The response statistics presented show that the MPP
procedure tends to significantly overestimate seismic demands of
lower stories of tall buildings considered in this study while MPA
and IMPA procedures provide reasonably accurate results in
estimating maximum inter-story drift over all stories of studied BRBF
systems.
Abstract: The results show that the bridge equipped with seismic isolation bearing system shows a high amount of energy dissipation. The purpose of the present study is to analyze the overall performance of continuous curved highway viaducts with different bearing supports, with an emphasis on the effectiveness of seismic isolation based on lead rubber bearing and hedge reaction force bearing system consisted of friction sliding bearing and rubber bearing. The bridge seismic performance has been evaluated on six different cases with six bearing models. The effects of the different arrangement of bearing on the deck superstructure displacements, the seismic damage at the bottom of the piers, movement track at the pier-s top and the total and strain energies absorbed by the structure are evaluated. In conclusion, the results provide sufficient evidence of the effectiveness on the use of seismic isolation on steel curved highway bridges.
Abstract: Despite of the preponderant role played by cement among the construction materials, it is today considered as a material destructing the environment due to the large quantities of carbon dioxide exhausted during its manufacture. Besides, global warming is now recognized worldwide as the new threat to the humankind against which advanced countries are investigating measures to reduce the current amount of exhausted gases to the half by 2050. Accordingly, efforts to reduce green gases are exerted in all industrial fields. Especially, the cement industry strives to reduce the consumption of cement through the development of alkali-activated geopolymer mortars using industrial byproducts like bottom ash. This study intends to gather basic data on the flowability and strength development characteristics of alkali-activated geopolymer mortar by examining its FT-IT features with respect to the effects and strength of the alkali-activator in order to develop bottom ash-based alkali-activated geopolymer mortar. The results show that the 35:65 mass ratio of sodium hydroxide to sodium silicate is appropriate and that a molarity of 9M for sodium hydroxide is advantageous. The ratio of the alkali-activators to bottom ash is seen to have poor effect on the strength. Moreover, the FT-IR analysis reveals that larger improvement of the strength shifts the peak from 1060 cm–1 (T-O, T=Si or Al) toward shorter wavenumber.
Abstract: A conventional image posterization method
occasionally fails to preserve the shape and color of objects due to the
uneffective color reduction. This paper proposes a new image
posterizartion method by using modified color quantization for
preserving the shape and color of objects and color contrast
enhancement for improving lightness contrast and saturation.
Experiment results show that our proposed method can provide
visually more satisfactory posterization result than that of the
conventional method.