Abstract: In this work a dual laser triangulation system is presented for fast building of 2.5D textured models of objects within a production line. This scanner is designed to produce data suitable for 3D completeness inspection algorithms. For this purpose two laser projectors have been used in order to considerably reduce the problem of occlusions in the camera movement direction. Results of reconstruction of electronic boards are presented, together with a comparison with a commercial system.
Abstract: Fundamental sensor-motor couplings form the backbone
of most mobile robot control tasks, and often need to be implemented
fast, efficiently and nevertheless reliably. Machine learning
techniques are therefore often used to obtain the desired sensor-motor
competences.
In this paper we present an alternative to established machine
learning methods such as artificial neural networks, that is very fast,
easy to implement, and has the distinct advantage that it generates
transparent, analysable sensor-motor couplings: system identification
through nonlinear polynomial mapping.
This work, which is part of the RobotMODIC project at the
universities of Essex and Sheffield, aims to develop a theoretical understanding
of the interaction between the robot and its environment.
One of the purposes of this research is to enable the principled design
of robot control programs.
As a first step towards this aim we model the behaviour of the
robot, as this emerges from its interaction with the environment, with
the NARMAX modelling method (Nonlinear, Auto-Regressive, Moving
Average models with eXogenous inputs). This method produces
explicit polynomial functions that can be subsequently analysed using
established mathematical methods.
In this paper we demonstrate the fidelity of the obtained NARMAX
models in the challenging task of robot route learning; we present a
set of experiments in which a Magellan Pro mobile robot was taught
to follow four different routes, always using the same mechanism to
obtain the required control law.
Abstract: Oxidative stress is considered to be the cause for onset
and the progression of type 2 diabetes mellitus (T2DM) and
complications including neuropathy. It is a deleterious process that
can be an important mediator of damage to cell structures: protein,
lipids and DNA. Data suggest that in patients with diabetes and
diabetic neuropathy DNA repair is impaired, which prevents effective
removal of lesions. Objective: The aim of our study was to evaluate
the association of the hOGG1 (326 Ser/Cys) and XRCC1 (194
Arg/Trp, 399 Arg/Gln) gene polymorphisms whose protein is
involved in the BER pathway with DNA repair efficiency in patients
with diabetes type 2 and diabetic neuropathy compared to the healthy
subjects. Genotypes were determined by PCR-RFLP analysis in 385
subjects, including 117 with type 2 diabetes, 56 with diabetic
neuropathy and 212 with normal glucose metabolism. The
polymorphisms studied include codon 326 of hOGG1 and 194, 399
of XRCC1 in the base excision repair (BER) genes. Comet assay was
carried out using peripheral blood lymphocytes from the patients and
controls. This test enabled the evaluation of DNA damage in cells
exposed to hydrogen peroxide alone and in the combination with the
endonuclease III (Nth). The results of the analysis of polymorphism
were statistically examination by calculating the odds ratio (OR) and
their 95% confidence intervals (95% CI) using the ¤ç2-tests. Our data
indicate that patients with diabetes mellitus type 2 (including those
with neuropathy) had higher frequencies of the XRCC1 399Arg/Gln
polymorphism in homozygote (GG) (OR: 1.85 [95% CI: 1.07-3.22],
P=0.3) and also increased frequency of 399Gln (G) allele (OR: 1.38
[95% CI: 1.03-1.83], P=0.3). No relation to other polymorphisms
with increased risk of diabetes or diabetic neuropathy. In T2DM
patients complicated by neuropathy, there was less efficient repair of
oxidative DNA damage induced by hydrogen peroxide in both the
presence and absence of the Nth enzyme. The results of our study
suggest that the XRCC1 399 Arg/Gln polymorphism is a significant
risk factor of T2DM in Polish population. Obtained data suggest a
decreased efficiency of DNA repair in cells from patients with
diabetes and neuropathy may be associated with oxidative stress.
Additionally, patients with neuropathy are characterized by even
greater sensitivity to oxidative damage than patients with diabetes,
which suggests participation of free radicals in the pathogenesis of
neuropathy.
Abstract: The clinical usefulness of heart rate variability is
limited to the range of Holter monitoring software available. These
software algorithms require a normal sinus rhythm to accurately
acquire heart rate variability (HRV) measures in the frequency
domain. Premature ventricular contractions (PVC) or more
commonly referred to as ectopic beats, frequent in heart failure,
hinder this analysis and introduce ambiguity. This investigation
demonstrates an algorithm to automatically detect ectopic beats by
analyzing discrete wavelet transform coefficients. Two techniques
for filtering and replacing the ectopic beats from the RR signal are
compared. One technique applies wavelet hard thresholding
techniques and another applies linear interpolation to replace ectopic
cycles. The results demonstrate through simulation, and signals
acquired from a 24hr ambulatory recorder, that these techniques can
accurately detect PVC-s and remove the noise and leakage effects
produced by ectopic cycles retaining smooth spectra with the
minimum of error.
Abstract: Natural organic matter (NOM) is heterogeneous
mixture of organic compounds that enter the water media from
animal and plant remains, domestic and industrial wastes.
Researches showed that NOM is likely precursor material for
disinfection by products (DBPs). Chlorine very commenly used for
disinfection purposes and NOM and chlorine reacts then
Trihalomethane (THM) and Haloacetic acids (HAAs) which are
cancerogenics for human health are produced. The aim of the study is
to search NOM removal by enhanced coagulation from drinking
water source of Eskisehir which is supplied from Porsuk Dam.
Recently, Porsuk dam water is getting highly polluted and therefore
NOM concentration is increasing. Enhanced coagulation studies were
evaluated by measurement of Dissolved Organic Carbon (DOC), UV
absorbance at 254 nm (UV254), and different trihalomethane
formation potential (THMFP) tests. Results of jar test experiments
showed that NOM can be removed from water about 40-50 % of
efficiency by enhanced coagulation. Optimum coagulant type and
coagulant dosages were determined using FeCl3 and Alum.
Abstract: In-place sorting algorithms play an important role in many fields such as very large database systems, data warehouses, data mining, etc. Such algorithms maximize the size of data that can be processed in main memory without input/output operations. In this paper, a novel in-place sorting algorithm is presented. The algorithm comprises two phases; rearranging the input unsorted array in place, resulting segments that are ordered relative to each other but whose elements are yet to be sorted. The first phase requires linear time, while, in the second phase, elements of each segment are sorted inplace in the order of z log (z), where z is the size of the segment, and O(1) auxiliary storage. The algorithm performs, in the worst case, for an array of size n, an O(n log z) element comparisons and O(n log z) element moves. Further, no auxiliary arithmetic operations with indices are required. Besides these theoretical achievements of this algorithm, it is of practical interest, because of its simplicity. Experimental results also show that it outperforms other in-place sorting algorithms. Finally, the analysis of time and space complexity, and required number of moves are presented, along with the auxiliary storage requirements of the proposed algorithm.
Abstract: Data clustering is an important data exploration technique
with many applications in data mining. We present an enhanced
version of the well known single link clustering algorithm. We will
refer to this algorithm as DCBOR. The proposed algorithm alleviates
the chain effect by removing the outliers from the given dataset.
So this algorithm provides outlier detection and data clustering
simultaneously. This algorithm does not need to update the distance
matrix, since the algorithm depends on merging the most k-nearest
objects in one step and the cluster continues grow as long as possible
under specified condition. So the algorithm consists of two phases;
at the first phase, it removes the outliers from the input dataset. At
the second phase, it performs the clustering process. This algorithm
discovers clusters of different shapes, sizes, densities and requires
only one input parameter; this parameter represents a threshold for
outlier points. The value of the input parameter is ranging from 0 to
1. The algorithm supports the user in determining an appropriate
value for it. We have tested this algorithm on different datasets
contain outlier and connecting clusters by chain of density points,
and the algorithm discovers the correct clusters. The results of
our experiments demonstrate the effectiveness and the efficiency of
DCBOR.
Abstract: CTMA-bentonite and BTEA-Bentonite prepared by Na-bentonite cation exchanged with cetyltrimethylammonium(CTMA) and benzyltriethylammonium (BTEA). Products were characterized by XRD and IR techniques.The d001 spacing value of CTMA-bentonite and BTEA-bentonite are 7.54Å and 3.50Å larger than that of Na-bentonite at 100% cation exchange capacity, respectively. The IR spectrum showed that the intensities of OH stretching and bending vibrations of the two organoclays decreased greatly comparing to untreated Na-bentonite. Batch experiments were carried out at 303 K, 318 K and 333 K to obtain the sorption isotherms of Crystal violet onto the two organoclays. The results show that the sorption isothermal data could be well described by Freundlich model. The dynamical data for the two organoclays fit well with pseudo-second-order kinetic model. The adsorption capacity of CTMA-bentonite was found higher than that of BTEA-Bentonite. Thermodynamic parameters such as changes in the free energy (ΔG°), the enthalpy (ΔH°) and the entropy (ΔS°) were also evaluated. The overall adsorption process of Crystal violet onto the two organoclays were spontaneous, endothermic physisorption. The CTMA-bentonite and BTEA-Bentonite could be employed as low-cost alternatives to activated carbon in wastewater treatment for the removal of color which comes from textile dyes.
Abstract: This article is devoted to the analysis of results of
sociological researches carried out by authors directed on studying of
opinion of representatives of small, medium and big business on
formation of the Customs Union, Common Free Market Zone with
participation of Kazakhstan, Russia and Belarus.
It-s forecasted that companies, their branches will interpenetrate
with registration and moving their businesses to regions with more
beneficial conditions. They say that in Kazakhstan there are more
profitable geo-strategic operating environment for business and lower
taxes. Russia using this opportunity will create new conditions for
expansion into other countries of Central Asia and China. Opinions
of participants of questionnaire and expert poll different in estimation
of value of these two integration mechanisms since market segments
on the one hand extend, but also on the other hand - loss of exclusive
influence in certain fields of activity.
Abstract: The objective of this paper is to present explicit analytical formulas for evaluating important characteristics of Double Moving Average control chart (DMA) for Poisson distribution. The most popular characteristics of a control chart are Average Run Length ( 0 ARL ) - the mean of observations that are taken before a system is signaled to be out-of control when it is actually still incontrol, and Average Delay time ( 1 ARL ) - mean delay of true alarm times. An important property required of 0 ARL is that it should be sufficiently large when the process is in-control to reduce a number of false alarms. On the other side, if the process is actually out-ofcontrol then 1 ARL should be as small as possible. In particular, the explicit analytical formulas for evaluating 0 ARL and 1 ARL be able to get a set of optimal parameters which depend on a width of the moving average ( w ) and width of control limit ( H ) for designing DMA chart with minimum of 1 ARL
Abstract: Computerized lip reading has been one of the most
actively researched areas of computer vision in recent past because
of its crime fighting potential and invariance to acoustic environment.
However, several factors like fast speech, bad pronunciation,
poor illumination, movement of face, moustaches and beards make
lip reading difficult. In present work, we propose a solution for
automatic lip contour tracking and recognizing letters of English
language spoken by speakers using the information available from
lip movements. Level set method is used for tracking lip contour
using a contour velocity model and a feature vector of lip movements
is then obtained. Character recognition is performed using modified
k nearest neighbor algorithm which assigns more weight to nearer
neighbors. The proposed system has been found to have accuracy
of 73.3% for character recognition with speaker lip movements as
the only input and without using any speech recognition system in
parallel. The approach used in this work is found to significantly
solve the purpose of lip reading when size of database is small.
Abstract: In this paper real money demand function is analyzed
within multivariate time-series framework. Cointegration approach is
used (Johansen procedure) assuming interdependence between
money demand determinants, which are nonstationary variables. This
will help us to understand the behavior of money demand in Croatia,
revealing the significant influence between endogenous variables in
vector autoregrression system (VAR), i.e. vector error correction
model (VECM). Exogeneity of the explanatory variables is tested.
Long-run money demand function is estimated indicating slow speed
of adjustment of removing the disequilibrium. Empirical results
provide the evidence that real industrial production and exchange
rate explains the most variations of money demand in the long-run,
while interest rate is significant only in short-run.
Abstract: There are two common types of operational research techniques, optimisation and metaheuristic methods. The latter may be defined as a sequential process that intelligently performs the exploration and exploitation adopted by natural intelligence and strong inspiration to form several iterative searches. An aim is to effectively determine near optimal solutions in a solution space. In this work, a type of metaheuristics called Ant Colonies Optimisation, ACO, inspired by a foraging behaviour of ants was adapted to find optimal solutions of eight non-linear continuous mathematical models. Under a consideration of a solution space in a specified region on each model, sub-solutions may contain global or multiple local optimum. Moreover, the algorithm has several common parameters; number of ants, moves, and iterations, which act as the algorithm-s driver. A series of computational experiments for initialising parameters were conducted through methods of Rigid Simplex, RS, and Modified Simplex, MSM. Experimental results were analysed in terms of the best so far solutions, mean and standard deviation. Finally, they stated a recommendation of proper level settings of ACO parameters for all eight functions. These parameter settings can be applied as a guideline for future uses of ACO. This is to promote an ease of use of ACO in real industrial processes. It was found that the results obtained from MSM were pretty similar to those gained from RS. However, if these results with noise standard deviations of 1 and 3 are compared, MSM will reach optimal solutions more efficiently than RS, in terms of speed of convergence.
Abstract: The polyfunctional and highly reactive bio-polymer,
the chitosan was first regioselectively converted into dialkylated
chitosan using dimsyl anionic solution(NaH in DMSO) and
bromodecane after protecting amino groups by phthalic anhydride.
The dibenzo-18-crown-6-ether, on the other hand, was converted into
its carbonyl derivatives via Duff reaction prior to incorporate into
chitosan by Schiff base formation. Thus formed diformylated
dibenzo-18-crown-6-ether was condensed with lipophilic chitosan to
prepare the novel solvent extraction reagent. The products were
characterized mainly by IR and 1H-NMR. Hence, the multidentate
crown ether-embedded polyfunctional bio-material was tested for
extraction of Pd(II) and Pt(IV) in aqueous solution.
Abstract: This work involved the use of phytoremediation to
remediate an aged soil contaminated with polychlorinated biphenyls
(PCBs). At microcosm scale, tests were prepared using soil samples
that have been collected in an industrial area with a total PCBs
concentration of about 250 μg kg-1. Medicago sativa and Lolium
italicum were the species selected in this study that is used as
“feasibility test" for full scale remediation. The experiment was
carried out with the addition of a mixture of randomly methylatedbeta-
cyclodextrins (RAMEB). At the end of the experiment analysis
of soil samples showed that in general the presence of plants has led
to a higher degradation of most congeners with respect to not
vegetated soil. The two plant species efficiencies were comparable
and improved by RAMEB addition with a final reduction of total
PCBs near to 50%. With increasing the chlorination of the congeners
the removal percentage of PCBs progressively decreased.
Abstract: This paper may be considered as combination of both pervasive computing and Differential GPS (global positioning satellite) which relates to control automatic traffic signals in such a
way as to pre-empt normal signal operation and permit lifesaving vehicles. Before knowing the arrival of the lifesaving vehicles from
the signal there is a chance of clearing the traffic. Traffic signal
preemption system includes a vehicle equipped with onboard computer system capable of capturing diagnostic information and
estimated location of the lifesaving vehicle using the information provided by GPS receiver connected to the onboard computer system
and transmitting the information-s using a wireless transmitter via a
wireless network. The fleet management system connected to a
wireless receiver is capable of receiving the information transmitted
by the lifesaving vehicle .A computer is also located at the
intersection uses corrected vehicle position, speed & direction
measurements, in conjunction with previously recorded data defining
approach routes to the intersection, to determine the optimum time to
switch a traffic light controller to preemption mode so that lifesaving
vehicles can pass safely. In case when the ambulance need to take a
“U" turn in a heavy traffic area we suggest a solution. Now we are
going to make use of computerized median which uses LINKED
BLOCKS (removable) to solve the above problem.
Abstract: In this study arsenate [As(V)] removal from drinking water by coagulation process was investigated. Ferric chloride (FeCl3.6H2O) and ferrous sulfate (FeSO4.7H2O) were used as coagulant. The effects of major operating variables such as coagulant dose (1–30 mg/L) and pH (5.5–9.5) were investigated. Ferric chloride and ferrous sulfate were found as effective and reliable coagulant due to required dose, residual arsenate and coagulant concentration. Optimum pH values for maximum arsenate removal for ferrous sulfate and ferric chloride were found as 8 and 7.5. The arsenate removal efficiency decreased at neutral and acidic pH values for Fe(II) and at the high acidic and high alkaline pH for Fe(III). It was found that the increase of coagulant dose caused a substantial increase in the arsenate removal. But above a certain ferric chloride and ferrous sulfate dosage, the increase in arsenate removal was not significant. Ferric chloride and ferrous sulfate dose above 8 mg/L slightly increased arsenate removal.
Abstract: The boundary layer flow and heat transfer on a
stretched surface moving with prescribed skin friction is studied for
permeable surface. The surface temperature is assumed to vary
inversely with the vertical direction x for n = -1. The skin friction at
the surface scales as (x-1/2) at m = 0. The constants m and n are the
indices of the power law velocity and temperature exponent
respectively. Similarity solutions are obtained for the boundary layer
equations subject to power law temperature and velocity variation.
The effect of various governing parameters, such as the buoyancy
parameter λ and the suction/injection parameter fw for air (Pr = 0.72)
are studied. The choice of n and m ensures that the used similarity
solutions are x independent. The results show that, assisting flow (λ >
0) enhancing the heat transfer coefficient along the surface for any
constant value of fw. Furthermore, injection increases the heat
transfer coefficient but suction reduces it at constant λ.
Abstract: Topology Optimization is a defined as the method of
determining optimal distribution of material for the assumed design
space with functionality, loads and boundary conditions [1].
Topology optimization can be used to optimize shape for the
purposes of weight reduction, minimizing material requirements or
selecting cost effective materials [2]. Topology optimization has been
implemented through the use of finite element methods for the
analysis, and optimization techniques based on the method of moving
asymptotes, genetic algorithms, optimality criteria method, level sets
and topological derivatives. Case study of Typical “Fuselage design"
is considered for this paper to explain the benefits of Topology
Optimization in the design cycle. A cylindrical shell is assumed as
the design space and aerospace standard pay loads were applied on
the fuselage with wing attachments as constraints. Then topological
optimization is done using Finite Element (FE) based software. This
optimization results in the structural concept design which satisfies
all the design constraints using minimum material.
Abstract: Traffic congestion has become a major problem in
many countries. One of the main causes of traffic congestion is due
to road merges. Vehicles tend to move slower when they reach the
merging point. In this paper, an enhanced algorithm for traffic
simulation based on the fluid-dynamic algorithm and kinematic wave
theory is proposed. The enhanced algorithm is used to study traffic
congestion at a road merge. This paper also describes the
development of a dynamic traffic simulation tool which is used as a
scenario planning and to forecast traffic congestion level in a certain
time based on defined parameter values. The tool incorporates the
enhanced algorithm as well as the two original algorithms. Output
from the three above mentioned algorithms are measured in terms of
traffic queue length, travel time and the total number of vehicles
passing through the merging point. This paper also suggests an
efficient way of reducing traffic congestion at a road merge by
analyzing the traffic queue length and travel time.