Abstract: In this paper a real-time obstacle avoidance approach
for both autonomous and non-autonomous dynamical systems (DS) is
presented. In this approach the original dynamics of the controller
which allow us to determine safety margin can be modulated.
Different common types of DS increase the robot’s reactiveness in
the face of uncertainty in the localization of the obstacle especially
when robot moves very fast in changeable complex environments.
The method is validated by simulation and influence of different
autonomous and non-autonomous DS such as important
characteristics of limit cycles and unstable DS. Furthermore, the
position of different obstacles in complex environment is explained.
Finally, the verification of avoidance trajectories is described through
different parameters such as safety factor.
Abstract: Background and aim: It has not been well studied
whether fentanyl-thiopental (FT) is effective and safe for PSA in
orthopedic procedures in Emergency Department (ED). The aim of
this trial was to evaluate the effectiveness of intravenous FT versus
fentanyl-midazolam (FM) in patients who suffered from shoulder
dislocation or distal radial fracture-dislocation.
Methods: In this randomized double-blinded study, Seventy-six
eligible patients were entered the study and randomly received
intravenous FT or FM. The success rate, onset of action and recovery
time, pain score, physicians’ satisfaction and adverse events were
assessed and recorded by treating emergency physicians. The
statistical analysis was intention to treat.
Results: The success rate after administrating loading dose in FT
group was significantly higher than FM group (71.7% vs. 48.9%,
p=0.04); however, the ultimate unsuccessful rate after 3 doses of
drugs in the FT group was higher than the FM group (3 to 1) but it
did not reach to significant level (p=0.61). Despite near equal onset
of action time in two study group (P=0.464), the recovery period in
patients receiving FT was markedly shorter than FM group
(P
Abstract: The aim of this study was to design and simulate a
particular type of Asynchronous State Machine (ASM), namely a
‘traffic light controller’ (TLC), operated at a frequency of 0.5 Hz.
The design task involved two main stages: firstly, designing a 4-bit
binary counter using J-K flip flops as the timing signal and,
subsequently, attaining the digital logic by deploying ASM design
process. The TLC was designed such that it showed a sequence of
three different colours, i.e. red, yellow and green, corresponding to
set thresholds by deploying the least number of AND, OR and NOT
gates possible. The software Multisim was deployed to design such
circuit and simulate it for circuit troubleshooting in order for it to
display the output sequence of the three different colours on the
traffic light in the correct order. A clock signal, an asynchronous 4-
bit binary counter that was designed through the use of J-K flip flops
along with an ASM were used to complete this sequence, which was
programmed to be repeated indefinitely. Eventually, the circuit was
debugged and optimized, thus displaying the correct waveforms of
the three outputs through the logic analyser. However, hazards
occurred when the frequency was increased to 10 MHz. This was
attributed to delays in the feedback being too high.
Abstract: Leukaemia is a blood cancer disease that contributes
to the increment of mortality rate in Malaysia each year. There are
two main categories for leukaemia, which are acute and chronic
leukaemia. The production and development of acute leukaemia cells
occurs rapidly and uncontrollable. Therefore, if the identification of
acute leukaemia cells could be done fast and effectively, proper
treatment and medicine could be delivered. Due to the requirement of
prompt and accurate diagnosis of leukaemia, the current study has
proposed unsupervised pixel segmentation based on clustering
algorithm in order to obtain a fully segmented abnormal white blood
cell (blast) in acute leukaemia image. In order to obtain the
segmented blast, the current study proposed three clustering
algorithms which are k-means, fuzzy c-means and moving k-means
algorithms have been applied on the saturation component image.
Then, median filter and seeded region growing area extraction
algorithms have been applied, to smooth the region of segmented
blast and to remove the large unwanted regions from the image,
respectively. Comparisons among the three clustering algorithms are
made in order to measure the performance of each clustering
algorithm on segmenting the blast area. Based on the good sensitivity
value that has been obtained, the results indicate that moving kmeans
clustering algorithm has successfully produced the fully
segmented blast region in acute leukaemia image. Hence, indicating
that the resultant images could be helpful to haematologists for
further analysis of acute leukaemia.
Abstract: Risperidone (RISP) is an antipsychotic agent and has
low water solubility and nontargeted delivery results in numerous
side effects. Hence, an attempt was made to develop SLNs hydrogel
for intranasal delivery of RISP to achieve maximum bioavailability
and reduction of side effects. RISP loaded SLNs composed of 1.65%
(w/v) lipid mass were produced by high shear homogenization (HSH)
coupled ultrasound (US) method using glycerylmonostearate (GMS)
or Imwitor 900K (solid lipid). The particles were loaded with 0.2%
(w/v) of the RISP & surface-tailored with a 2.02% (w/v) non-ionic
surfactant Tween® 80. Optimization was done using 32 factorial
design using Design Expert® software. The prepared SLNs
dispersion incorporated into Polycarbophil AA1 hydrogel (0.5%
w/v). The final gel formulation was evaluated for entrapment
efficiency, particle size, rheological properties, X ray diffraction, in
vitro diffusion, ex vivo permeation using sheep nasal mucosa and
histopathological studies for nasocilliary toxicity. The entrapment
efficiency of optimized SLNs was found to be 76 ± 2%,
polydispersity index
Abstract: Compositions of different molar ratios of
polymethylmethacrylate-co-methacrylic acid (PMMA-co-MAA)
were synthesized via free-radical polymerization. Polymer coated
surfaces have been produced on silicon wafers. Coated samples were
analyzed by atomic force microscopy (AFM). The results have shown
that the roughness of the surfaces have increased by increasing the
molar ratio of monomer methacrylic acid (MAA). This study reveals
that the gradual increase in surface roughness is due to the fact that
carboxylic functional groups have been generated by MAA segments.
Such surfaces can be desirable platforms for fabrication of the
biosensors for detection of the viruses and diseases.
Abstract: As the current status and growth of Indian automobile
industry is remarkable, transportation sectors are the main concern in
terms of energy security and climate change. Due to rising demand of
fuel and its dependency on foreign countries that affects the GDP of
nation, suggests that penetration of electrical vehicle will increase in
near future. So in this context analysis is done if the 10 percent of
conventional vehicles including cars, three wheelers and two
wheelers becomes electrical vehicles in near future which is also a
part of Nations Electric Mobility Mission Plan then the saving which
improves the nation’s economy is analyzed in detail. Whether the
Indian electricity grid is capable of taking this load with current
generation and demand all over the country is also analyzed in detail.
Current situation of Indian grid is analyzed and how the gap between
generation and demand can be reduced is discussed in terms of
increasing generation capacity and energy conservation measures.
Electrical energy conservation measures in Industry and especially in
rural areas have been analyzed to improve performance of Indian
electricity grid in context of electrical vehicle penetration in near
future. Author was a part of Vishvakarma yojna in which energy
losses were measured in 255 villages of Gujarat and solutions were
suggested to mitigate them and corresponding reports was submitted
to the authorities of Gujarat government.
Abstract: Liver disorders are one of the major problems of the
world. Despite its frequent occurrence, high morbidity and high
mortality, its medical management is currently inadequate. This study
was designed to evaluate the hepatoprotective effect of saponin
extract of the root of Garcinia kola on the integrity of the liver of
paracetamol induced wistar albino rats. Twenty five (25) male adult
wistar albino rats were divided into five (5) groups. Group I was the
Control group that received distilled water only, group II was the
negative control that received 2 g/kg of paracetamol on the 13th day,
and group III, IV and V were pre-treated with 100, 200 and
400mg/kg of the saponin extract before inducing the liver damage on
the 13th day with 2 g/kg of paracetamol. Twenty four (24) h after
administration, the rats were sacrificed and blood samples were
collected. The serum Alanine Transaminase (ALT), Aspartate
Transaminase (AST), Alkaline Phosphatase (ALP) activities,
Bilirubin and conjugated bilirubin, glucose and protein
concentrations were evaluated. The liver was fixed immediately in
Formalin and was processed and stained in Haematoxylin and Eosin
(H&E). Administration of saponin extract from the root of Garcinia
kola significantly decreased paracetamol induced elevated enzymes
in the test group. Also histological observations showed that saponin
extract of the root of Garcinia kola exhibited a significant liver
protection against the toxicant as evident by the cells trying to return
to normal. Saponin extract from the root of Garcinia kola indicated a
protection of structural integrity of the hepatocytic cell membrane
and regeneration of the damaged liver.
Abstract: In order to better understand the long term
implications of the grout wear failure mode in large-diameter plainsided
grouted connections, a numerical model has been developed
and calibrated that can take advantage of existing operational plant
data to predict the wear accumulation for the actual load conditions
experienced over a given period, thus limiting the requirement for
expensive monitoring systems. This model has been derived and
calibrated based on site structural condition monitoring (SCM) data
and supervisory control and data acquisition systems (SCADA) data
for two operational wind turbine generator substructures afflicted
with this challenge, along with experimentally derived wear rates.
Abstract: The effect of the inclusion of thyme and rosemary
essential oils into chitosan films, as well as the microbiological and
physical properties when storing chitosan film with and without the
mentioned inclusion was studied. The film forming solution was
prepared by dissolving chitosan (2%, w/v), polysorbate 80 (4% w/w
CH) and glycerol (16% w/w CH) in aqueous lactic acid solutions
(control). The thyme (TEO) and rosemary (REO) essential oils (EOs)
were included 1:1 w/w (EOs:CH) on their combination 50/50
(TEO:REO). The films were stored at temperatures of 5, 20, 33°C
and a relative humidity of 75% during four weeks. The films with
essential oil inclusion did not show an antimicrobial activity against
strains. This behavior could be explained because the chitosan only
inhibits the growth of microorganisms in direct contact with the
active sites. However, the inhibition capacity of TEO was higher than
the REO and a synergic effect between TEO:REO was found for S.
enteritidis strains in the chitosan solution.
Some physical properties were modified by the inclusion of
essential oils. The addition of essential oils does not affect the
mechanical properties (tensile strength, elongation at break, puncture
deformation), the water solubility, the swelling index nor the DSC
behavior. However, the essential oil inclusion can significantly
decrease the thickness, the moisture content, and the L* value of
films whereas the b* value increased due to molecular interactions
between the polymeric matrix, the loosing of the structure, and the
chemical modifications. On the other hand, the temperature and time
of storage changed some physical properties on the chitosan films.
This could have occurred because of chemical changes, such as
swelling in the presence of high humidity air and the reacetylation of
amino groups. In the majority of cases, properties such as moisture
content, tensile strength, elongation at break, puncture deformation,
a*, b*, chrome, 7E increased whereas water resistance, swelling
index, L*, and hue angle decreased.
Abstract: The present study was carried out to evaluate the
effect of different levels of dietary seed and extract of Harmal
(Peganum harmala L.) on immunity of broiler chicks. A total of 350
one-day old broiler chicks (Ross 308) were randomly allocated to
five dietary treatments with four replicates pen of 14 birds each.
Dietary treatments consisted of control, 1 and 2 g/kg Harmal seed in
diet, 100 and 200 mg/L Harmal seed extract in water. Broilers
received dietary treatments from 1 to 42 d. Two birds from each pen
were randomly weighed and sacrificed at 42 d of age, the relative
weight of lymphoid organs (bursa of Fabercius and spleen) to live
weight were calculated. Antibody titers against Newcastle and
influenza viruses and sheep red blood cell were measured at 30 d of
age. Results showed that the relative weights of lymphoid organs
were not affected by dietary treatments. Furthermore, antibody titer
against Newcastle and influenza viruses as well as sheep red blood
cell antigen were significantly (P
Abstract: Batteries of electric vehicles (BEV) are becoming
more attractive with the advancement of new battery technologies
and promotion of electric vehicles. BEV batteries are recharged on
board vehicles using either the grid (G2V for Grid to Vehicle) or
renewable energies in a stand-alone application (H2V for Home to
Vehicle). This paper deals with the modeling, sizing and control of a
photovoltaic stand-alone application that can charge the BEV at
home. The modeling approach and developed mathematical models
describing the system components are detailed. Simulation and
experimental results are presented and commented.
Abstract: In this paper, the transient device performance analysis
of n-type Gate Inside JunctionLess Transistor (GI-JLT) has been
evaluated. 3-D Bohm Quantum Potential (BQP) transport device
simulation has been used to evaluate the delay and power dissipation
performance. GI-JLT has a number of desirable device parameters
such as reduced propagation delay, dynamic power dissipation,
power and delay product, intrinsic gate delay and energy delay
product as compared to Gate-all-around transistors GAA-JLT. In
addition to this, various other device performance parameters namely,
on/off current ratio, short channel effects (SCE), transconductance
Generation Factor (TGF) and unity gain cut-off frequency (fT ) and
subthreshold slope (SS) of the GI-JLT and GAA-JLT have been
analyzed and compared. GI-JLT shows better device performance
characteristics than GAA-JLT for low power and high frequency
applications, because of its larger gate electrostatic control on the
device operation.
Abstract: Welfare may be considered to be a subjective
experience; it has a biological function that is related to the fitness
and survival of the animal accordingly, researches have suggested
that welfare is compromised when the animal's evolutionary fitness is
reduced. This study was carried out to explain the effect of some
managerial stressors as handling and restraint on behavioral patterns
and biochemical parameters of rats. A total of 24 (12 males & 12
females) Sprague-Dawley rats (12 months & 150-180g) were allotted
into 3 groups, handled group (4 male & 4 female), restrained group (4
male & 4 female) and control group (4 males & 4 females).
The obtained results revealed that time spent feeding, drinking,
movement and cage exploration frequencies increased significantly in
handled rats than other groups, while lying time and licking increased
significantly in restrained rats than handled and controls. Moreover,
social behavior decreased in both stressed groups than control.
Triglycerides were significantly increased in handled rats than
other groups, while total lipid, total protein and globulin significantly
increased in both treated groups than control. Corticosterone
increased in restrained and handled rats than control ones. Moreover,
there was an increment in packed cell volume significantly in
restrained rats than others. These deducted that if we want to study
the effect of stress on animal welfare it is necessary to study the
effect of such stressors on animal’s behavior and physiological
responses.
Abstract: Wireless mesh networking is rapidly gaining in
popularity with a variety of users: from municipalities to enterprises,
from telecom service providers to public safety and military
organizations. This increasing popularity is based on two basic facts:
ease of deployment and increase in network capacity expressed in
bandwidth per footage; WMNs do not rely on any fixed
infrastructure. Many efforts have been used to maximizing
throughput of the network in a multi-channel multi-radio wireless
mesh network. Current approaches are purely based on either static or
dynamic channel allocation approaches. In this paper, we use a
hybrid multichannel multi radio wireless mesh networking
architecture, where static and dynamic interfaces are built in the
nodes. Dynamic Adaptive Channel Allocation protocol (DACA), it
considers optimization for both throughput and delay in the channel
allocation. The assignment of the channel has been allocated to be codependent
with the routing problem in the wireless mesh network and
that should be based on passage flow on every link. Temporal and
spatial relationship rises to re compute the channel assignment every
time when the pattern changes in mesh network, channel assignment
algorithms assign channels in network. In this paper a computing
path which captures the available path bandwidth is the proposed
information and the proficient routing protocol based on the new path
which provides both static and dynamic links. The consistency
property guarantees that each node makes an appropriate packet
forwarding decision and balancing the control usage of the network,
so that a data packet will traverse through the right path.
Abstract: This paper proposed a silicon controller rectifier (SCR)
based ESD protection device to protect low voltage ESD for integrated
circuit. The proposed ESD protection device has low trigger voltage
and high holding voltage compared with conventional SCR-based
ESD protection devices. The proposed ESD protection circuit is
verified and compared by TCAD simulation. This paper verified
effective low voltage ESD characteristics with low trigger voltage of
5.79V and high holding voltage of 3.5V through optimization
depending on design variables (D1, D2, D3 and D4).
Abstract: Locating Radio Controlled (RC) devices using their
unintended emissions has a great interest considering security
concerns. Weak nature of these emissions requires near field
localization approach since it is hard to detect these signals in far
field region of array. Instead of only angle estimation, near field
localization also requires range estimation of the source which makes
this method more complicated than far field models. Challenges of
locating such devices in a near field region and real time environment
are analyzed in this paper. An ESPRIT like near field localization
scheme is utilized for both angle and range estimation. 1-D search
with symmetric subarrays is provided. Two 7 element uniform linear
antenna arrays (ULA) are employed for locating RC source.
Experiment results of location estimation for one unintended emitting
walkie-talkie for different positions are given.
Abstract: In-memory database systems are becoming popular
due to the availability and affordability of sufficiently large RAM and
processors in modern high-end servers with the capacity to manage
large in-memory database transactions. While fast and reliable inmemory
systems are still being developed to overcome cache misses,
CPU/IO bottlenecks and distributed transaction costs, disk-based data
stores still serve as the primary persistence. In addition, with the
recent growth in multi-tenancy cloud applications and associated
security concerns, many organisations consider the trade-offs and
continue to require fast and reliable transaction processing of diskbased
database systems as an available choice. For these
organizations, the only way of increasing throughput is by improving
the performance of disk-based concurrency control. This warrants a
hybrid database system with the ability to selectively apply an
enhanced disk-based data management within the context of inmemory
systems that would help improve overall throughput.
The general view is that in-memory systems substantially
outperform disk-based systems. We question this assumption and
examine how a modified variation of access invariance that we call
enhanced memory access, (EMA) can be used to allow very high
levels of concurrency in the pre-fetching of data in disk-based
systems. We demonstrate how this prefetching in disk-based systems
can yield close to in-memory performance, which paves the way for
improved hybrid database systems. This paper proposes a novel EMA
technique and presents a comparative study between disk-based EMA
systems and in-memory systems running on hardware configurations
of equivalent power in terms of the number of processors and their
speeds. The results of the experiments conducted clearly substantiate
that when used in conjunction with all concurrency control
mechanisms, EMA can increase the throughput of disk-based systems
to levels quite close to those achieved by in-memory system. The
promising results of this work show that enhanced disk-based
systems facilitate in improving hybrid data management within the
broader context of in-memory systems.
Abstract: Proof of controlling crack width is a basic condition
for securing suitable performance in serviceability limit state. The
cracking in concrete can occur at any time from the casting of time to
the years after the concrete has been set in place. Most codes struggle
with offering procedure for crack width calculation. There is lack in
availability of design charts for designers to compute crack width
with ease. The focus of the study is to utilize design charts and
parametric equations in calculating crack width with minimum error.
The paper contains a simplified procedure to calculate crack width
for reinforced concrete (RC) sections subjected to bending with axial
tensile force following the guidelines of Euro code [DS EN-1992-1-1
& DS EN-1992-1-2]. Numerical examples demonstrate the
application of the suggested procedure. Comparison with parallel
analytical tools supports the validity of result and show the
percentage deviation of crack width in both the procedures. The
technique is simple, user friendly and ready to evolve for a greater
spectrum of section sizes and materials.
Abstract: This paper presents a combination of both robust
nonlinear controller and nonlinear controller for a class of nonlinear
4Y Octorotor UAV using Back-stepping and sliding mode controller.
The robustness against internal and external disturbance and
decoupling control are the merits of the proposed paper. The
proposed controller decouples the Octorotor dynamical system. The
controller is then applied to a 4Y Octortor UAV and its feature will
be shown.