Abstract: An intuitive user interface for the teleoperation of mobile rescue robots is one key feature for a successful exploration of inaccessible and no-go areas. Therefore, we have developed a novel framework to embed a flexible and modular user interface into a complete 3-D virtual reality simulation system. Our approach is based on a client-server architecture to allow for a collaborative control of the rescue robot together with multiple clients on demand. Further, it is important that the user interface is not restricted to any specific type of mobile robot. Therefore, our flexible approach allows for the operation of different robot types with a consistent concept and user interface. In laboratory tests, we have evaluated the validity and effectiveness of our approach with the help of two different robot platforms and several input devices. As a result, an untrained person can intuitively teleoperate both robots without needing a familiarization time when changing the operating robot.
Abstract: Energy generated by the force of water in hydropower
can provide a more sustainable, non-polluting alternative to fossil
fuels, along with other renewable sources of energy, such as wind,
solar and tidal power, bio energy and geothermal energy. Small scale
hydroelectricity in Iran is well suited for “off-grid" rural electricity
applications, while other renewable energy sources, such as wind,
solar and biomass, can be beneficially used as fuel for pumping
groundwater for drinking and small scale irrigation in remote rural
areas or small villages. Small Hydro Power plants in Iran have very
low operating and maintenance costs because they consume no fossil
or nuclear fuel and do not involve high temperature processes. The
equipment is relatively simple to operate and maintain. Hydropower
equipment can adjust rapidly to load changes. The extended
equipment life provides significant economic advantages. Some
hydroelectric plants installed 100 years ago still operate reliably. The
Polkolo river is located on Karun basin at southwest of Iran. Situation
and conditions of Polkolo river are evaluated for construction of
small hydropower in this article. The topographical conditions and
the existence of permanent water from springs provide the suitability
to install hydroelectric power plants on the river Polkolo. The
cascade plant consists of 9 power plants connected with each other
and is having the total head as 1100m and discharge about 2.5cubic
meter per second. The annual production of energy is 105.5 million
kwh.
Abstract: The health record in the Electronic Health Record
(EHR) system is more sensitive than demographic. It raises the
important issue for the EHR requirement in privacy, security, audit
trail, patient access, and archiving and data retention. The studies
about the EHR system security are deficient. The aim of this study is to
build a security environment for the EHR system by Integrating the
Healthcare Enterprise (IHE) Audit Trail and Node Authentication
Security (ATNA) profile. The CDAs can be access in a secure EHR
environment.
Abstract: The evolution of current modeling specifications gives rise to the problem of generating automated test cases from a variety of application tools. Past endeavours on behavioural testing of UML statecharts have not systematically leveraged the potential of existing graph theory for testing of objects. Therefore there exists a need for a simple, tool-independent, and effective method for automatic test generation. An architecture, codenamed ACUTE-J (Automated stateChart Unit Testing Engine for Java), for automating the unit test generation process is presented. A sequential approach for converting UML statechart diagrams to JUnit test classes is described, with the application of existing graph theory. Research byproducts such as a universal XML Schema and API for statechart-driven testing are also proposed. The result from a Java implementation of ACUTE-J is discussed in brief. The Chinese Postman algorithm is utilised as an illustration for a run-through of the ACUTE-J architecture.
Abstract: Polyurethane foams (PUF) has been prepared from
vegetable; soybean based polyols. They were characterized into
flexible and semi rigid polyurethane foam. This work is directed to
production of flexible polyurethane foams by a process involving the
reaction of mixture of 2,4- and 2,6-Toluene di Isocyanate isomers,
with portion of to blends of soy polyols with petroleum polyol in the
presence of other ingredients such as blowing agents, silicone
surfactants and accelerating agents. Additon of chain extender
improves the property then further decreases the properties on further
addition of the same. The objective of this work was to study the
effect of chain extender and role of phosphoric acid catalyst to the
final properties and correlate the morphology image with mechanical
properties of these foams.
Abstract: This paper numerically investigates the effects of input
speed on the overall dynamic characteristics of a multi-body system
with differently located revolute clearance joints without friction. A
typical planar slider-crank mechanism is used as a demonstration case
in which the effects of the input speed on the dynamic performance
of the mechanism with a revolute clearance joint between the crank
and connecting rod, and between the connecting rod and slider are
separately investigated with comprehensive observations numerically
presented. It is observed that, changing the driving speed of a multibody
system makes the behavior of the system to change from
either periodic to chaotic, or chaotic to periodic depending on which
joint has clearance. The location of the clearance revolute joint and
the operating speed of a multi-body system play a crucial role in
predicting accurately the dynamic responses of the system. Therefore
the dynamic behavior of one clearance revolute joint cannot be used
as a general case for a mechanical system.
Abstract: In this paper we report a study aimed at determining
the most effective animation technique for representing ASL
(American Sign Language) finger-spelling. Specifically, in the study
we compare two commonly used 3D computer animation methods
(keyframe animation and motion capture) in order to ascertain which
technique produces the most 'accurate', 'readable', and 'close to
actual signing' (i.e. realistic) rendering of ASL finger-spelling. To
accomplish this goal we have developed 20 animated clips of fingerspelled
words and we have designed an experiment consisting of a
web survey with rating questions. 71 subjects ages 19-45 participated
in the study. Results showed that recognition of the words was
correlated with the method used to animate the signs. In particular,
keyframe technique produced the most accurate representation of the
signs (i.e., participants were more likely to identify the words
correctly in keyframed sequences rather than in motion captured
ones). Further, findings showed that the animation method had an
effect on the reported scores for readability and closeness to actual
signing; the estimated marginal mean readability and closeness was
greater for keyframed signs than for motion captured signs. To our
knowledge, this is the first study aimed at measuring and comparing
accuracy, readability and realism of ASL animations produced with
different techniques.
Abstract: The American Health Level Seven (HL7) Reference Information Model (RIM) consists of six back-bone classes that have different specialized attributes. Furthermore, for the purpose of enforcing the semantic expression, there are some specific mandatory vocabulary domains have been defined for representing the content values of some attributes. In the light of the fact that it is a duplicated effort on spending a lot of time and human cost to develop and modify Clinical Information Systems (CIS) for most hospitals due to the variety of workflows. This study attempts to design and develop sharing RIM-based components of the CIS for the different business processes. Therefore, the CIS contains data of a consistent format and type. The programmers can do transactions with the RIM-based clinical repository by the sharing RIM-based components. And when developing functions of the CIS, the sharing components also can be adopted in the system. These components not only satisfy physicians- needs in using a CIS but also reduce the time of developing new components of a system. All in all, this study provides a new viewpoint that integrating the data and functions with the business processes, it is an easy and flexible approach to build a new CIS.
Abstract: The paper presents new results of a recent industry
supported research and development study in which an efficient
framework for evaluating practical and meaningful power system
reliability and quality indices was applied. The system-wide
integrated performance indices are capable of addressing and
revealing areas of deficiencies and bottlenecks as well as
redundancies in the composite generation-transmission-demand
structure of large-scale power grids. The technique utilizes a linear
programming formulation, which simulates practical operating
actions and offers a general and comprehensive framework to assess
the harmony and compatibility of generation, transmission and
demand in a power system. Practical applications to a reduced
system model as well as a portion of the Saudi power grid are also
presented in the paper for demonstration purposes.
Abstract: A spatial classification technique incorporating a State of Art Feature Extraction algorithm is proposed in this paper for classifying a heterogeneous classes present in hyper spectral images. The classification accuracy can be improved if and only if both the feature extraction and classifier selection are proper. As the classes in the hyper spectral images are assumed to have different textures, textural classification is entertained. Run Length feature extraction is entailed along with the Principal Components and Independent Components. A Hyperspectral Image of Indiana Site taken by AVIRIS is inducted for the experiment. Among the original 220 bands, a subset of 120 bands is selected. Gray Level Run Length Matrix (GLRLM) is calculated for the selected forty bands. From GLRLMs the Run Length features for individual pixels are calculated. The Principle Components are calculated for other forty bands. Independent Components are calculated for next forty bands. As Principal & Independent Components have the ability to represent the textural content of pixels, they are treated as features. The summation of Run Length features, Principal Components, and Independent Components forms the Combined Features which are used for classification. SVM with Binary Hierarchical Tree is used to classify the hyper spectral image. Results are validated with ground truth and accuracies are calculated.
Abstract: The construction industry is the pillar industry in
China, accounting for about 6% of the gross domestic product. Along
with changes in the external environment of the construction industry
in China, the construction firm faces fierce competition. The paper
aims to investigate the relationship between diversified types of
construction firm and its performance in China. Based on generalist
and specialist strategy in organizational ecology, we think a generalist
organization can be applied to an enterprise with diversified
developments, while specialist groups are extended to professional
enterprises .This study takes advantage of annual financial data of
listed construction firm to empirically verify the relationship between
diversification and corporation performance establishing a regression
equation to econometric analysis. We find that: 1) Specialization can
significantly improve the level of profitability of listed construction
firms, and there is a significant positive relationship with corporate
performance; 2) The level of operating performance of listed
construction enterprises which engage in unrelated diversification is
higher than those with related diversification; 3) The relationship
between state-owned construction firms and corporate performance is
negative. The more the year of foundation is, the higher performance
will be; however, the more the year of being listed, the lower
performance will be.
Abstract: This essay endeavors to read Ama Ata Aidoo-s Our Sister Killjoy with a postocolonially-inflected consciousness. It aims at demonstrating how her work could be read as a sophisticated postcolonial revision of the colonial travel narrative whereby the protagonist-s black-eyed squint operates as 'the all-seeing-eye' to subvert the historically unbroken legacy of the Orientalist ideology. It tries to demonstrate how Sissie assumes authority and voice in an act that destabilizes the traditionally established modes of western representation. It is also an investigation into how Aidoo-s text adopts processes which disengage the Eurocentric view produced by the discursive itineraries of western institutions through diverse acts of resistance and 'various strategies of subversion and appropriation'. Her counter discursive strategies of resistance are shaped up in various ways by a feminist consciousness that attempts to articulate a distinct African version of identity and preserve cultural distinctiveness.
Abstract: In this paper we propose new method for
simultaneous generating multiple quantiles corresponding to given
probability levels from data streams and massive data sets. This
method provides a basis for development of single-pass low-storage
quantile estimation algorithms, which differ in complexity, storage
requirement and accuracy. We demonstrate that such algorithms may
perform well even for heavy-tailed data.
Abstract: The electrochemical coagulation of a kaolin
suspension was investigated at the currents of 0.06, 0.12, 0.22, 0.44,
0.85 A (corresponding to 0.68, 1.36, 2.50, 5.00, 9.66 mA·cm-2,
respectively) for the contact time of 5, 10, 20, 30, and 50 min. The
TSS removal efficiency at currents of 0.06 A, 0.12 A and 0.22 A
increased with the amount of iron generated by the sacrificial anode,
while the removal efficiencies did not increase proportionally with
the amount of iron generated at the currents of 0.44 and 0.85 A,
where electroflotation was clearly observed. Zeta potential
measurement illustrated the presence of the highly positive charged
particles created by sorption of highly charged polymeric metal
hydroxyl species onto the negative surface charged kaolin particles at
both low and high applied currents. The disappearance of the
individual peaks after certain contact times indicated the attraction
between these positive and negative charged particles causing
agglomeration. It was concluded that charge neutralization of the
individual species was not the only mechanism operating in the
electrocoagulation process at any current level, but electrostatic
attraction was likely to co-operate or mainly operate.
Abstract: The development of Artificial Neural Networks
(ANNs) is usually a slow process in which the human expert has to
test several architectures until he finds the one that achieves best
results to solve a certain problem. This work presents a new
technique that uses Genetic Programming (GP) for automatically
generating ANNs. To do this, the GP algorithm had to be changed in
order to work with graph structures, so ANNs can be developed. This
technique also allows the obtaining of simplified networks that solve
the problem with a small group of neurons. In order to measure the
performance of the system and to compare the results with other
ANN development methods by means of Evolutionary Computation
(EC) techniques, several tests were performed with problems based
on some of the most used test databases. The results of those
comparisons show that the system achieves good results comparable
with the already existing techniques and, in most of the cases, they
worked better than those techniques.
Abstract: This paper presents an approach for the design of
fuzzy logic power system stabilizers using genetic algorithms. In the
proposed fuzzy expert system, speed deviation and its derivative
have been selected as fuzzy inputs. In this approach the parameters of
the fuzzy logic controllers have been tuned using genetic algorithm.
Incorporation of GA in the design of fuzzy logic power system
stabilizer will add an intelligent dimension to the stabilizer and
significantly reduces computational time in the design process. It is
shown in this paper that the system dynamic performance can be
improved significantly by incorporating a genetic-based searching
mechanism. To demonstrate the robustness of the genetic based
fuzzy logic power system stabilizer (GFLPSS), simulation studies on
multimachine system subjected to small perturbation and three-phase
fault have been carried out. Simulation results show the superiority
and robustness of GA based power system stabilizer as compare to
conventionally tuned controller to enhance system dynamic
performance over a wide range of operating conditions.
Abstract: The common practice of operating S-rotor is in an
open environment; however there are times when the rotor is
installed in a bounded environment and there might be changes in the
performance of the rotor. This paper presents the changes in the
performance of S-rotor when operated in bounded flows. The
investigation was conducted experimentally to compare the
performance of the rotors in bounded environment against open
environment. Three different rotors models were designed, fabricated
and subjected to experimental measurements. All of the three models
were having 600 mm height and 300 mm Diameter. They were tested
in three different flow environments; namely: partially bounded
environment, fully bounded environment and open environment.
Rotors were found to have better starting up capabilities when
operated in bounded environment. Apart from that, all rotors manage
to achieve higher Power and Torque Coefficients at a higher Tip
Speed Ratio as compared to the open environment.
Abstract: Biological sequences from different species are called or-thologs if they evolved from a sequence of a common ancestor species and they have the same biological function. Approximations of Kolmogorov complexity or entropy of biological sequences are already well known to be useful in extracting similarity information between such sequences -in the interest, for example, of ortholog detection. As is well known, the exact Kolmogorov complexity is not algorithmically computable. In prac-tice one can approximate it by computable compression methods. How-ever, such compression methods do not provide a good approximation to Kolmogorov complexity for short sequences. Herein is suggested a new ap-proach to overcome the problem that compression approximations may notwork well on short sequences. This approach is inspired by new, conditional computations of Kolmogorov entropy. A main contribution of the empir-ical work described shows the new set of entropy-based machine learning attributes provides good separation between positive (ortholog) and nega-tive (non-ortholog) data - better than with good, previously known alter-natives (which do not employ some means to handle short sequences well).Also empirically compared are the new entropy based attribute set and a number of other, more standard similarity attributes sets commonly used in genomic analysis. The various similarity attributes are evaluated by cross validation, through boosted decision tree induction C5.0, and by Receiver Operating Characteristic (ROC) analysis. The results point to the conclu-sion: the new, entropy based attribute set by itself is not the one giving the best prediction; however, it is the best attribute set for use in improving the other, standard attribute sets when conjoined with them.
Abstract: Adaptive observers used in sensorless control of induction motors suffer from instability especally in regenerating mode. In this paper, an optimal feed back gain design is proposed, it can reduce the instability region in the torque speed plane .
Abstract: Power Factor (PF) is one of the most important parameters in the electrical systems, especially in the water pumping station. The low power factor value of the water pumping stations causes penalty for the electrical bill. There are many methods use for power factor improvement. Each one of them uses a capacitor on the electrical power network. The position of the capacitors is varied depends on many factors such as; voltage level and capacitors rating. Adding capacitors on the motor terminals increase the supply power factor from 0.8 to more than 0.9 but these capacitors cause some problems for the electrical grid network, such as increasing the harmonic contents of the grid line voltage. In this paper the effects of using capacitors in the water pumping stations to improve the power factor value on the harmonic contents of the electrical grid network are studied. One of large water pumping stations in Kafr El-Shikh Governorate in Egypt was used, as a case study. The effect of capacitors on the line voltage harmonic contents is measured. The station uses capacitors to improve the PF values at the 1 lkv grid network. The power supply harmonics values are measured by a power quality analyzer at different loading conditions. The results showed that; the capacitors improved the power factor value of the feeder and its value increased than 0.9. But the THD values are increased by adding these capacitors. The harmonic analysis showed that; the 13th, 17th, and 19th harmonics orders are increased also by adding the capacitors.