Abstract: Wheeled Mobile Robots (WMRs) are built with their
Wheels- drive machine, Motors. Depend on their desire design of
WMR, Technicians made used of DC Motors for motion control. In
this paper, the author would like to analyze how to choose DC motor
to be balance with their applications of especially for WMR.
Specification of DC Motor that can be used with desire WMR is to
be determined by using MATLAB Simulink model. Therefore, this
paper is mainly focus on software application of MATLAB and
Control Technology. As the driving system of DC motor, a
Peripheral Interface Controller (PIC) based control system is
designed including the assembly software technology and H-bridge
control circuit. This Driving system is used to drive two DC gear
motors which are used to control the motion of WMR. In this
analyzing process, the author mainly focus the drive system on
driving two DC gear motors that will control with Differential Drive
technique to the Wheeled Mobile Robot . For the design analysis of
Motor Driving System, PIC16F84A is used and five inputs of sensors
detected data are tested with five ON/OFF switches. The outputs of
PIC are the commands to drive two DC gear motors, inputs of Hbridge
circuit .In this paper, Control techniques of PIC
microcontroller and H-bridge circuit, Mechanism assignments of
WMR are combined and analyzed by mainly focusing with the
“Modeling and Simulink of DC Motor using MATLAB".
Abstract: System identification is the process of creating
models of dynamic process from input- output signals. The aim of
system identification can be identified as “ to find a model with
adjustable parameters and then to adjust them so that the predicted
output matches the measured output". This paper presents a method
of modeling and simulating with system identification to achieve the
maximum fitness for transformation function. First by using
optimized KLM equivalent circuit for PVDF piezoelectric transducer
and assuming different inputs including: sinuside, step and sum of
sinusides, get the outputs, then by using system identification
toolbox in MATLAB, we estimate the transformation function from
inputs and outputs resulted in last program. Then compare the fitness
of transformation function resulted from using ARX,OE(Output-
Error) and BJ(Box-Jenkins) models in system identification toolbox
and primary transformation function form KLM equivalent circuit.
Abstract: A new approach for timestamp ordering problem in
serializable schedules is presented. Since the number of users using
databases is increasing rapidly, the accuracy and needing high
throughput are main topics in database area. Strict 2PL does not
allow all possible serializable schedules and so does not result high
throughput. The main advantages of the approach are the ability to
enforce the execution of transaction to be recoverable and the high
achievable performance of concurrent execution in central databases.
Comparing to Strict 2PL, the general structure of the algorithm is
simple, free deadlock, and allows executing all possible serializable
schedules which results high throughput. Various examples which
include different orders of database operations are discussed.
Abstract: One of the most common practices for strengthening
the reinforced concrete structures is the application of FRP (Fiber
Reinforce Plastic) sheets to increase the flexural and shear strengths
of the member. The elastic modulus of FRP is considerably higher
than that of concrete. This will result in debonding between the FRP
sheets and concrete surface. With conventional surface preparation of
concrete, the ultimate capacity of the FRP sheets can hardly be
achieved. New methods for preparation of the bonding surface have
shown improvements in reducing the premature debonding of FRP
sheets from concrete surface. The present experimental study focuses
on the application of grooving method to postpone debonding of the
FRP sheets attached to the side faces of concrete beams for shear
strengthening. Comparison has also been made with conventional
surface preparation method. This study clearly shows the efficiency
of grooving method compared to surface preparation method, in
preventing the debonding phenomenon and in increasing the load
carrying capacity of FRP.
Abstract: The modern Kazakh society is characterized by strengthen cross-cultural communication, the emergence of new powerful subcultures, accelerated change in social systems and values. The socio-political reforms in all fields have changed the quality of social relationships and spiritual life.Cross-cultural approach involves the analysis of different types of behavior and communication, including the manifestation of the conflict, and the formation of marginal destructive stereotypes.
Abstract: Fast forecasting of stock market prices is very important for
strategic planning. In this paper, a new approach for fast forecasting of
stock market prices is presented. Such algorithm uses new high speed
time delay neural networks (HSTDNNs). The operation of these
networks relies on performing cross correlation in the frequency
domain between the input data and the input weights of neural
networks. It is proved mathematically and practically that the number
of computation steps required for the presented HSTDNNs is less
than that needed by traditional time delay neural networks
(TTDNNs). Simulation results using MATLAB confirm the
theoretical computations.
Abstract: In recent years, the research in wireless sensor
network has increased steadily, and many studies were focusing on
reducing energy consumption of sensor nodes to extend their lifetimes.
In this paper, the issue of energy consumption is investigated and two
adaptive mechanisms are proposed to extend the network lifetime.
This study uses high-energy-first scheme to determine cluster heads
for data transmission. Thus, energy consumption in each cluster is
balanced and network lifetime can be extended. In addition, this study
uses cluster merging and dynamic routing mechanisms to further
reduce energy consumption during data transmission. The simulation
results show that the proposed method can effectively extend the
lifetime of wireless sensor network, and it is suitable for different base
station locations.
Abstract: In the present study, changes of morphology and
mechanical characteristics in the lumbar vertebrae of the
ovariectomised (OVX) rat were investigated. In previous researches,
there were many studies about morphology like volume fraction and
trabecular thickness based on Micro - Computed Tomography (Micro
- CT). However, detecting and tracking long-term changes in the
trabecular bone of the lumbar vertebrae for the OVX rat were few. For
this study, one female Sprague-Dawley rat was used: an OVX rat. The
4th Lumbar of the OVX rat was subjected to in-vivo micro-CT.
Detecting and tracking long-term changes could be investigated in the
trabecular bone of the lumbar vertebrae for an OVX rat using in-vivo
micro-CT. An OVX rat was scanned at week 0 (just before surgery), at
week 4, at week 8, week 16, week 22 and week 56 after surgery. Finite
element (FE) analysis was used to investigate mechanical
characteristics of the lumbar vertebrae for an OVX rat. When the OVX
rat (at week 56) was compared with the OVX rat (at week 0), volume
fraction was decreased by 80% and effective modulus was decreased
by 75%.
Abstract: An experimental and numerical study has been conducted to clarify heat transfer characteristics and effectiveness of a cross-flow heat exchanger employing staggered wing-shaped tubes at different angels of attack. The water-side Rew and the air-side Rea were at 5 x 102 and at from 1.8 x 103 to 9.7 x 103, respectively. The tubes arrangements were employed with various angles of attack θ1,2,3 from 0° to 330° at the considered Rea range. Correlation of Nu, St, as well as the heat transfer per unit pumping power (ε) in terms of Rea, design parameters for the studied bundle were presented. The temperature fields around the staggered wing-shaped tubes bundle were predicted by using commercial CFD FLUENT 6.3.26 software package. Results indicated that the heat transfer was increased by increasing the angle of attack from 0° to 45°, while the opposite was true for angles of attack from 135° to 180°. The best thermal performance and hence η of studied bundle was occurred at the lowest Rea and/or zero angle of attack. Comparisons between the experimental and numerical results of the present study and those, previously, obtained for similar available studies showed good agreements.
Abstract: We consider optimal channel equalization for MIMO
(multi-input/multi-output) time-varying channels in the sense of
MMSE (minimum mean-squared-error), where the observation noise
can be non-stationary. We show that all ZF (zero-forcing) receivers
can be parameterized in an affine form which eliminates completely
the ISI (inter-symbol-interference), and optimal channel equalizers
can be designed through minimization of the MSE (mean-squarederror)
between the detected signals and the transmitted signals,
among all ZF receivers. We demonstrate that the optimal channel
equalizer is a modified Kalman filter, and show that under the AWGN
(additive white Gaussian noise) assumption, the proposed optimal
channel equalizer minimizes the BER (bit error rate) among all
possible ZF receivers. Our results are applicable to optimal channel
equalization for DWMT (discrete wavelet multitone), multirate transmultiplexers,
OFDM (orthogonal frequency division multiplexing),
and DS (direct sequence) CDMA (code division multiple access)
wireless data communication systems. A design algorithm for optimal
channel equalization is developed, and several simulation examples
are worked out to illustrate the proposed design algorithm.
Abstract: This paper describes studies carried out to investigate
the viability of using wireless cameras as a tool in monitoring
changes in air quality. A camera is used to monitor the change in
colour of a chemically responsive polymer within view of the camera
as it is exposed to varying chemical species concentration levels. The
camera captures this image and the colour change is analyzed by
averaging the RGB values present. This novel chemical sensing
approach is compared with an established chemical sensing method
using the same chemically responsive polymer coated onto LEDs. In
this way, the concentration levels of acetic acid in the air can be
tracked using both approaches. These approaches to chemical plume
tracking have many applications for air quality monitoring.
Abstract: An enhanced particle swarm optimization algorithm
(PSO) is presented in this work to solve the non-convex OPF
problem that has both discrete and continuous optimization variables.
The objective functions considered are the conventional quadratic
function and the augmented quadratic function. The latter model
presents non-differentiable and non-convex regions that challenge
most gradient-based optimization algorithms. The optimization
variables to be optimized are the generator real power outputs and
voltage magnitudes, discrete transformer tap settings, and discrete
reactive power injections due to capacitor banks. The set of equality
constraints taken into account are the power flow equations while the
inequality ones are the limits of the real and reactive power of the
generators, voltage magnitude at each bus, transformer tap settings,
and capacitor banks reactive power injections. The proposed
algorithm combines PSO with Newton-Raphson algorithm to
minimize the fuel cost function. The IEEE 30-bus system with six
generating units is used to test the proposed algorithm. Several cases
were investigated to test and validate the consistency of detecting
optimal or near optimal solution for each objective. Results are
compared to solutions obtained using sequential quadratic
programming and Genetic Algorithms.
Abstract: In this paper, a method for deriving a group priority vector in the Fuzzy Analytic Network Process (FANP) is proposed. By introducing importance weights of multiple decision makers (DMs) based on their experiences, the Fuzzy Preferences Programming Method (FPP) is extended to a fuzzy group prioritization problem in the FANP. Additionally, fuzzy pair-wise comparison judgments are presented rather than exact numerical assessments in order to model the uncertainty and imprecision in the DMs- judgments and then transform the fuzzy group prioritization problem into a fuzzy non-linear programming optimization problem which maximize the group satisfaction. Unlike the known fuzzy prioritization techniques, the new method proposed in this paper can easily derive crisp weights from incomplete and inconsistency fuzzy set of comparison judgments and does not require additional aggregation producers. Detailed numerical examples are used to illustrate the implement of our approach and compare with the latest fuzzy prioritization method.
Abstract: The changes in quality properties and nutritional
components in two fermented mugworts (Artemisia capillaries
Thumberg, Artemisiaeasiaticae Nakai) were characterized followed
by the rapid pattern analysis of volatile flavor compounds by Electric
Nose based on SAW(Surface Acoustic Wave) sensor in GC system.
There were remarkable decreases in the pH and small changes in the
total soluble solids after fermentation. The L (lightness) and b
(yellowness) values in Hunter's color system were shown to be
decreased, whilst the a (redness) value was increased by fermentation.
The HPLC analysis demonstrated that total amino acids were
increased in quantity and the essential amino acids were contained
higher in A. asiaticaeNakai than in A. capillaries Thumberg. While
the total polyphenol contents were not affected by fermentation, the
total sugar contents were dramatically decreased. Scopoletinwere
highly abundant in A. capillarisThumberg, however, it was not
detected in A. asiaticaeNakai. Volatile flavor compounds by Electric
Nose showed that the intensity of several peaks were increased much
and seven additional flavor peaks were newly produced after
fermentation. The flavor differences of two mugworts were clearly
distinguished from the image patterns of VaporPrintTM which indicate
that the fermentation enables the two mugworts to have subtle flavor
differences.
Abstract: The development of sustainable utilization water resources is crucial. The ecological environment and water resources systems form the foundation of the existence and development of the social economy. The urban ecological support system depends on these resources as well. This research studies the vulnerability, criticality, and risk of climate change on water supply and demand in the main administrative district of the Taijiang Area (Tainan City). Based on the two situations set in this paper and various factors (indexes), this research adopts two kinds of weights (equal and AHP) to conduct the calculation and establish the water supply and demand risk map for the target year 2039. According to the risk analysis result, which is based on equal weight, only one district belongs to a high-grade district (Grade 4). Based on the AHP weight, 16 districts belong to a high-grade or higher-grade district (Grades 4 and 5), and from among them, two districts belong to the highest grade (Grade 5). These results show that the risk level of water supply and demand in cities is higher than that in towns. The government generally gives more attention to the adjustment strategy in the “cities." However, it should also provide proper adjustment strategies for the “towns" to be able to cope with the risks of water supply and demand.
Abstract: There is increasing pressure on, and decline of
mopane woodlands due to increasing use and competition for
mopane resources in Zimbabwe in Namibia. Community management strategies, based largely on local knowledge are
evidently unable to cope. Research has generated potentially useful
information for mopane woodland management, but this information
has not been utilized. The work reported in this paper sought to add value to research work conducted on mopane woodlands by
developing effective community-based mopane woodland
management regimes that were based on both local and scientific
knowledge in Zimbabwe and Namibia. The conditions under which research findings were likely to be adopted for mopane woodland management by communities were investigated. The study was conducted at two sites each in Matobo and Omusati Districts in Zimbabwe and Namibia respectively. The mopane woodland
resources in the two study areas were assessed using scientific
ecological methods. A range of participatory methods was used to collect information on use of mopane woodland resources by communities, institutional arrangements governing access to and use
of these resources and to evaluate scientific knowledge for
applicability in local management regimes. Coppicing, thinning and
pollarding were the research generated management methods evaluated. Realities such as availability of woodland resources and
social roles and responsibilities influenced preferences for woodland
management interventions
Abstract: This work presents a novel means of extracting fixedlength parameters from voice signals, such that words can be recognized
in linear time. The power and the zero crossing rate are first
calculated segment by segment from a voice signal; by doing so, two
feature sequences are generated. We then construct an FIR system
across these two sequences. The parameters of this FIR system, used
as the input of a multilayer proceptron recognizer, can be derived by
recursive LSE (least-square estimation), implying that the complexity of overall process is linear to the signal size. In the second part of
this work, we introduce a weighting factor λ to emphasize recent
input; therefore, we can further recognize continuous speech signals.
Experiments employ the voice signals of numbers, from zero to nine, spoken in Mandarin Chinese. The proposed method is verified to
recognize voice signals efficiently and accurately.
Abstract: Encryption and decryption in RSA are done by modular exponentiation which is achieved by repeated modular multiplication. Hence efficiency of modular multiplication directly determines the efficiency of RSA cryptosystem. This paper designs a Modified Montgomery Modular Multiplication in which addition of operands is computed by 4:2 compressor. The basic logic operations in addition are partitioned over two iterations such that parallel computations are performed. This reduces the critical path delay of proposed Montgomery design. The proposed design and RSA are implemented on Virtex 2 and Virtex 5 FPGAs. The two factors partitioning and parallelism have improved the frequency and throughput of proposed design.
Abstract: This paper presents a comparative study on two most
popular control strategies for Permanent Magnet Synchronous Motor
(PMSM) drives: field-oriented control (FOC) and direct torque
control (DTC). The comparison is based on various criteria including
basic control characteristics, dynamic performance, and
implementation complexity. The study is done by simulation using
the Simulink Power System Blockset that allows a complete
representation of the power section (inverter and PMSM) and the
control system. The simulation and evaluation of both control
strategies are performed using actual parameters of Permanent
Magnet Synchronous Motor fed by an IGBT PWM inverter.
Abstract: This paper describes various stages of design and prototyping of a modular robot for use in various industrial applications. The major goal of current research has been to design and make different robotic joints at low cost capable of being assembled together in any given order for achieving various robot configurations. Five different types of joins were designed and manufactured where extensive research has been carried out on the design of each joint in order to achieve optimal strength, size, modularity, and price. This paper presents various stages of research and development undertaken to engineer these joints that include material selection, manufacturing, and strength analysis. The outcome of this research addresses the birth of a new generation of modular industrial robots with a wider range of applications and greater efficiency.