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: In the paper the results of calculations of the dynamic
response of a multi-storey reinforced concrete building to a strong
mining shock originated from the main region of mining activity in
Poland (i.e. the Legnica-Glogow Copper District) are presented. The
representative time histories of accelerations registered in three
directions were used as ground motion data in calculations of the
dynamic response of the structure. Two variants of a numerical model
were applied: the model including only structural elements of the
building and the model including both structural and non-structural
elements (i.e. partition walls and ventilation ducts made of brick). It
turned out that non-structural elements of multi-storey RC buildings
have a small impact of about 10 % on natural frequencies of these
structures. It was also proved that the dynamic response of building
to mining shock obtained in case of inclusion of all non-structural
elements in the numerical model is about 20 % smaller than in case
of consideration of structural elements only. The principal stresses
obtained in calculations of dynamic response of multi-storey building
to strong mining shock are situated on the level of about 30% of
values obtained from static analysis (dead load).
Abstract: This paper proposes and analyses the wireless
telecommunication system with multiple antennas to the emission
and reception MIMO (multiple input multiple output) with space
diversity in a OFDM context. In particular it analyses the
performance of a DTT (Digital Terrestrial Television) broadcasting
system that includes MIMO-OFDM techniques. Different
propagation channel models and configurations are considered for
each diversity scheme. This study has been carried out in the context
of development of the next generation DVB-T/H and WRAN.
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 use of new technologies such internet (e-mail, chat
rooms) and cell phones has steeply increased in recent years.
Especially among children and young people, use of technological
tools and equipments is widespread. Although many teachers and
administrators now recognize the problem of school bullying, few are
aware that students are being harassed through electronic
communication. Referred to as electronic bullying, cyber bullying, or
online social cruelty, this phenomenon includes bullying through email,
instant messaging, in a chat room, on a website, or through
digital messages or images sent to a cell phone. Cyber bullying is
defined as causing deliberate/intentional harm to others using internet
or other digital technologies. It has a quantitative research design nd
uses relational survey as its method. The participants consisted of
300 secondary school students in the city of Konya, Turkey. 195
(64.8%) participants were female and 105 (35.2%) were male. 39
(13%) students were at grade 1, 187 (62.1%) were at grade 2 and 74
(24.6%) were at grade 3. The “Cyber Bullying Question List"
developed by Ar─▒cak (2009) was given to students. Following
questions about demographics, a functional definition of cyber
bullying was provided. In order to specify students- human values,
“Human Values Scale (HVS)" developed by Dilmaç (2007) for
secondary school students was administered. The scale consists of 42
items in six dimensions. Data analysis was conducted by the primary
investigator of the study using SPSS 14.00 statistical analysis
software. Descriptive statistics were calculated for the analysis of
students- cyber bullying behaviour and simple regression analysis was
conducted in order to test whether each value in the scale could
explain cyber bullying behaviour.
Abstract: This paper describes a proposed support system which
enables applications designers to effectively create VR applications
using multiple haptic APIs. When the VR designers create
applications, it is often difficult to handle and understand many
parameters and functions that have to be set in the application program
using documentation manuals only. This complication may disrupt
creative imagination and result in inefficient coding. So, we proposed
the support application which improved the efficiency of VR
applications development and provided the interactive components of
confirmation of operations with haptic sense previously.
In this paper, we describe improvements of our former proposed
support application, which was applicable to multiple APIs and haptic
devices, and evaluate the new application by having participants
complete VR program. Results from a preliminary experiment suggest
that our application facilitates creation of VR applications.
Abstract: The objective of this research was to identify the
vegetation-soil relationships in Nodushan arid rangelands of Yazd. 5
sites were selected for measuring the cover of plant species and soil
attributes. Soil samples were taken in 0-10 and 10-80 cm layers. The
species studied were Salsola tomentosa, Salsola arbuscula, Peganum
harmala, Zygophylum eurypterum and Eurotia ceratoides. Canonical
correspondence analysis (CCA) was used to analyze the data. Based
on the CCA results, 74.9 % of vegetation-soil variation was explained
by axis 1-3. Axis 1, 2 and 3 accounted for 27.2%, 24.9 % and 22.8%
of variance respectively. Correlation between axis 1, 2, 3 and speciesedaphic
variables were 0.995, 0.989, 0.981 respectively. Soil texture,
lime, salinity and organic matter significantly influenced the
distribution of these plant species. Determination of soil-vegetation
relationships will be useful for managing and improving rangelands
in arid and semi arid environments.
Abstract: The risk sphere in business is fast changing and expanding. Almost anything has become a risk factor that will have potent, direct, and far reaching impacts on business. This paper examines the intensity of enterprise risk management (ERM) practices among the Malaysian public listed companies. The paper espouses a ERM framework comprising fourteen important implementation elements and processes. Results of the analysis indicate that the intensity of ERM implementation among the respondents is in the ‘good’ category of the semantic scale, which is deemed encouraging vis-à-vis the country’s regulatory regime.
Abstract: In this paper is described a new conception of the
Cartesian robot for automated assembly and also disassembly
process. The advantage of this conception is the utilization the
Cartesian assembly robot with its all peripheral automated devices for
assembly of the assembled product. The assembly product in the end
of the lifecycle can be disassembled with the same Cartesian
disassembly robot with the use of the same peripheral automated
devices and equipment. It is a new approach to problematic solving
and development of the automated assembly systems with respect to
lifecycle management of the assembly product and also assembly
system with Cartesian robot. It is also important to develop the
methodical process for design of automated assembly and
disassembly system with Cartesian robot. Assembly and disassembly
system use the same Cartesian robot input and output devices,
assembly and disassembly units in one workplace with different
application. Result of design methodology is the verification and
proposition of real automated assembly and disassembly workplace
with Cartesian robot for known verified model of assembled actuator.
Abstract: In this paper, image compression using hybrid vector
quantization scheme such as Multistage Vector Quantization
(MSVQ) and Pyramid Vector Quantization (PVQ) are introduced. A
combined MSVQ and PVQ are utilized to take advantages provided
by both of them. In the wavelet decomposition of the image, most of
the information often resides in the lowest frequency subband.
MSVQ is applied to significant low frequency coefficients. PVQ is
utilized to quantize the coefficients of other high frequency
subbands. The wavelet coefficients are derived using lifting scheme.
The main aim of the proposed scheme is to achieve high compression
ratio without much compromise in the image quality. The results are
compared with the existing image compression scheme using MSVQ.
Abstract: The segmentation of mouth and lips is a fundamental
problem in facial image analyisis. In this paper we propose a method
for lip segmentation based on rg-color histogram. Statistical analysis
shows, using the rg-color-space is optimal for this purpose of a pure
color based segmentation. Initially a rough adaptive threshold selects
a histogram region, that assures that all pixels in that region are
skin pixels. Based on that pixels we build a gaussian model which
represents the skin pixels distribution and is utilized to obtain a
refined, optimal threshold. We are not incorporating shape or edge
information. In experiments we show the performance of our lip pixel
segmentation method compared to the ground truth of our dataset and
a conventional watershed algorithm.
Abstract: The objective from this paper is to design a solar
thermal engine for space vehicles orbital control and electricity
generation. A computational model is developed for the prediction of
the solar thermal engine performance for different design parameters and conditions in order to enhance the engine efficiency. The engine is divided into two main subsystems. First, the concentrator dish
which receives solar energy from the sun and reflects them to the
cavity receiver. The second one is the cavity receiver which receives
the heat flux reflected from the concentrator and transfers heat to the
fluid passing over. Other subsystems depend on the application required from the engine. For thrust application, a nozzle is
introduced to the system for the fluid to expand and produce thrust.
Hydrogen is preferred as a working fluid in the thruster application.
Results model developed is used to determine the thrust for a
concentrator dish 4 meters in diameter (provides 10 kW of energy),
focusing solar energy to a 10 cm aperture diameter cavity receiver.
The cavity receiver outer length is 50 cm and the internal cavity is 47
cm in length. The suggested design material of the internal cavity is
tungsten to withstand high temperature. The thermal model and
analysis shows that the hydrogen temperature at the plenum reaches
2000oK after about 250 seconds for hot start operation for a flow rate
of 0.1 g/sec.Using solar thermal engine as an electricity generation
device on earth is also discussed. In this case a compressor and
turbine are used to convert the heat gained by the working fluid (air)
into mechanical power. This mechanical power can be converted into
electrical power by using a generator.
Abstract: This study shows palynomorphological description of
pollen grains of Lamium garganicum, species of the family Labiatae.
Fresh material of this plant is taken in Mount Llogara, in Albania. By
comparison made between palinomorphological characteristics of
pollen grains of Lamium garganicum with those of Lamium
maculatum and Lamium purpureum, showed that granules have
similarities in the number of furrows. The pollen grains of Lamium
garganicum were larger in length and width than those of Lamium
maculatum and almost equal with those of Lamium purpureum.
Furrows are longer than those of pollen grains in Lamium maculatum
and shorter than those of Lamium purpureum. The layer of exine of
Lamium garganicum was thinner than that of two others. The
sculpture of exine was fine reticulate, where reticulas were uniform
whereas in Lamium purpureum was verrucate, with small verrucae; in
Lamium maculatum was reticulate.
Abstract: In this work, the primary compressive strength
components of human femur trabecular bone are qualitatively
assessed using image processing and wavelet analysis. The Primary
Compressive (PC) component in planar radiographic femur trabecular
images (N=50) is delineated by semi-automatic image processing
procedure. Auto threshold binarization algorithm is employed to
recognize the presence of mineralization in the digitized images. The
qualitative parameters such as apparent mineralization and total area
associated with the PC region are derived for normal and abnormal
images.The two-dimensional discrete wavelet transforms are utilized
to obtain appropriate features that quantify texture changes in medical
images .The normal and abnormal samples of the human femur are
comprehensively analyzed using Harr wavelet.The six statistical
parameters such as mean, median, mode, standard deviation, mean
absolute deviation and median absolute deviation are derived at level
4 decomposition for both approximation and horizontal wavelet
coefficients. The correlation coefficient of various wavelet derived
parameters with normal and abnormal for both approximated and
horizontal coefficients are estimated. It is seen that in almost all cases
the abnormal show higher degree of correlation than normals. Further
the parameters derived from approximation coefficient show more
correlation than those derived from the horizontal coefficients. The
parameters mean and median computed at the output of level 4 Harr
wavelet channel was found to be a useful predictor to delineate the
normal and the abnormal groups.
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: A new OTA-based logarithmic-control variable gain
current amplifier (LCCA) is presented. It consists of two Operational
Transconductance Amplifier (OTA) and two PMOS transistors
biased in weak inversion region. The circuit operates from 0.6V DC
power supply and consumes 0.6 μW. The linear-dB controllable
output range is 43 dB with maximum error less than 0.5dB. The
functionality of the proposed design was confirmed using HSPICE in
0.35μm CMOS process technology.
Abstract: The 2008 Candlelight Protests of Korea was very
significant to portray the political environment among the South
Korean youth. Many challenges and new advanced technologies have
driven the youth community to be engaged in the political arena that
has shifted them from traditional Korean youth to a very greater
community. Due to historical perspective with the people of North
Korea, the young generation has embraced different view of ethnic
nationalism. This study examines the youth involvement in politics in
line with their level of acceptance the practice of democracy. The
increase usage of new media has shown great results in the survey
results whereby the youth used as a platform to gain political
information and brought higher degree of their sociopolitical interests
among them. Furthermore, the rise of nationalism and patriotism will
be discussed in this paper to the dynamism of the political approaches
used by the Korea government
Abstract: Breast skin-line estimation and breast segmentation is an important pre-process in mammogram image processing and computer-aided diagnosis of breast cancer. Limiting the area to be processed into a specific target region in an image would increase the accuracy and efficiency of processing algorithms. In this paper we are presenting a new algorithm for estimating skin-line and breast segmentation using fast marching algorithm. Fast marching is a partial-differential equation based numerical technique to track evolution of interfaces. We have introduced some modifications to the traditional fast marching method, specifically to improve the accuracy of skin-line estimation and breast tissue segmentation. Proposed modifications ensure that the evolving front stops near the desired boundary. We have evaluated the performance of the algorithm by using 100 mammogram images taken from mini-MIAS database. The results obtained from the experimental evaluation indicate that this algorithm explains 98.6% of the ground truth breast region and accuracy of the segmentation is 99.1%. Also this algorithm is capable of partially-extracting nipple when it is available in the profile.
Abstract: In blended learning environments, the Internet can be combined with other technologies. The aim of this research was to design, introduce and validate a model to support synchronous and asynchronous activities by managing content domains in an Adaptive Hypermedia System (AHS). The application is based on information recovery techniques, clustering algorithms and adaptation rules to adjust the user's model to contents and objects of study. This system was applied to blended learning in higher education. The research strategy used was the case study method. Empirical studies were carried out on courses at two universities to validate the model. The results of this research show that the model had a positive effect on the learning process. The students indicated that the synchronous and asynchronous scenario is a good option, as it involves a combination of work with the lecturer and the AHS. In addition, they gave positive ratings to the system and stated that the contents were adapted to each user profile.
Abstract: Restoration research has become important on principle recently in Czech Republic. The reason is simple. More than 70 % of mined brown coal comes from the North Bohemian Basin these days. Open cast brown coal mining has lead to large damage on the landscape. Reclamation of phytotoxic areas is one of the serious problems in the North Bohemian Basin. It mainly concerns the areas with the occurrence of overburden rocks from the coal bed enriched with coal. The presented paper includes the characteristics of the important phytotoxic areas and the methodology of their reclamation. The results are documented with the long term monitoring of physical, mineralogical, chemical and pedological parameters of rocks in the testing areas.