Abstract: Finding the shortest path between two positions is a
fundamental problem in transportation, routing, and communications
applications. In robot motion planning, the robot should pass around
the obstacles touching none of them, i.e. the goal is to find a
collision-free path from a starting to a target position. This task has
many specific formulations depending on the shape of obstacles,
allowable directions of movements, knowledge of the scene, etc.
Research of path planning has yielded many fundamentally different
approaches to its solution, mainly based on various decomposition
and roadmap methods. In this paper, we show a possible use of
visibility graphs in point-to-point motion planning in the Euclidean
plane and an alternative approach using Voronoi diagrams that
decreases the probability of collisions with obstacles. The second
application area, investigated here, is focused on problems of finding
minimal networks connecting a set of given points in the plane using
either only straight connections between pairs of points (minimum
spanning tree) or allowing the addition of auxiliary points to the set
to obtain shorter spanning networks (minimum Steiner tree).
Abstract: The purpose of this work is to establish the theoretical
foundations for calculating and designing the sublimationcondensation
processes in chemical apparatuses which are intended
for production of ultrafine powders of crystalline and amorphous
materials with controlled fractional composition. Theoretic analysis
of the primary processes of nucleation and growth kinetics of the
clusters according to the degree of super-saturation and the
homogeneous or heterogeneous nature of nucleation has been carried
out. The engineering design procedures of desublimation processes
have been offered and tested for modification of the Claus process.
Abstract: Support vector regression (SVR) has been regarded
as a state-of-the-art method for approximation and regression. The
importance of kernel function, which is so-called admissible support
vector kernel (SV kernel) in SVR, has motivated many studies
on its composition. The Gaussian kernel (RBF) is regarded as a
“best" choice of SV kernel used by non-expert in SVR, whereas
there is no evidence, except for its superior performance on some
practical applications, to prove the statement. Its well-known that
reproducing kernel (R.K) is also a SV kernel which possesses many
important properties, e.g. positive definiteness, reproducing property
and composing complex R.K by simpler ones. However, there are a
limited number of R.Ks with explicit forms and consequently few
quantitative comparison studies in practice. In this paper, two R.Ks,
i.e. SV kernels, composed by the sum and product of a translation
invariant kernel in a Sobolev space are proposed. An exploratory
study on the performance of SVR based general R.K is presented
through a systematic comparison to that of RBF using multiple
criteria and synthetic problems. The results show that the R.K is
an equivalent or even better SV kernel than RBF for the problems
with more input variables (more than 5, especially more than 10) and
higher nonlinearity.
Abstract: Traffic Density provides an indication of the level of
service being provided to the road users. Hence, there is a need to
study the traffic flow characteristics with specific reference to
density in detail. When the length and speed of the vehicles in a
traffic stream vary significantly, the concept of occupancy, rather
than density, is more appropriate to describe traffic concentration.
When the concept of occupancy is applied to heterogeneous traffic
condition, it is necessary to consider the area of the road space and
the area of the vehicles as the bases. Hence, a new concept named,
'area-occupancy' is proposed here. It has been found that the
estimated area-occupancy gives consistent values irrespective of
change in traffic composition.
Abstract: The importance for manipulating an incorporated
scaffold and directing cell behaviors is well appreciated for tissue
engineering. Here, we developed newly nano-topographic oxidized
silicon nanosponges capable of being various chemical modifications
to provide much insight into the fundamental biology of how cells
interact with their surrounding environment in vitro. A wet etching
technique is exerted to allow us fabricated the silicon nanosponges in a
high-throughput manner. Furthermore, various organo-silane
chemicals enabled self-assembled on the surfaces by vapor deposition.
We have found that Chinese hamster ovary (CHO) cells displayed
certain distinguishable morphogenesis, adherent responses, and
biochemical properties while cultured on these chemical modified
nano-topographic structures in compared with the planar oxidized
silicon counterparts, indicating that cell behaviors can be influenced
by certain physical characteristic derived from nano-topography in
addition to the hydrophobicity of contact surfaces crucial for cell
adhesion and spreading. Of particular, there were predominant
nano-actin punches and slender protrusions formed while cells were
cultured on the nano-topographic structures. This study shed potential
applications of these nano-topographic biomaterials for controlling
cell development in tissue engineering or basic cell biology research.
Abstract: This research aimed to develop plasma system used in air conditioners. This developed plasma system could be installed in the air conditioners - all split type. The quality of air could be improved to be equal to present plasma system. Development processes were as follows: 1) to study the plasma system used in the air conditioners, 2) to design a plasma generator, 3) to develop the plasma generator, and 4) to test its performance in many types of the air conditioners. This plasma system was developed by AC high voltage – 14 kv with a frequency of 50 kHz. Carbon was a conductor to generate arc in air purifier system. The research was tested by installing the plasma generator in the air conditioners - wall type. Whereas, there were 3 types of installations: air flow out, air flow in, and room center. The result of the plasma generator installed in the air conditioners, split type, revealed that the air flow out installation provided the highest average of o-zone at 223 mg/h. This type of installation provided the highest efficiency of air quality improvement. Moreover, the air flow in installation and the room center installation provided the average of the o-zone at 163 mg/h and 64 mg/h, respectively.
Abstract: This paper deals with the experimental investigations
of the in-cylinder tumble flows in an unfired internal combustion
engine with a flat piston at the engine speeds ranging from 400 to
1000 rev/min., and also with the dome and dome-cavity pistons at an
engine speed of 1000 rev/min., using particle image velocimetry.
From the two-dimensional in-cylinder flow measurements, tumble
flow analysis is carried out in the combustion space on a vertical
plane passing through cylinder axis. To analyze the tumble flows,
ensemble average velocity vectors are used and to characterize it,
tumble ratio is estimated. From the results, generally, we have found
that tumble ratio varies mainly with crank angle position. Also, at the
end of compression stroke, average turbulent kinetic energy is more
at higher engine speeds. We have also found that, at 330 crank angle
position, flat piston shows an improvement of about 85 and 23% in
tumble ratio, and about 24 and 2.5% in average turbulent kinetic
energy compared to dome and dome-cavity pistons respectively
Abstract: The paper describes the carbonate microfacies identified in the Sinjar Formation (Late Paleocene–Early Eocene) cropping out in Qara Dagh Mountain, near Sulekan Village approximately 20km south–west of Sulaimani (Iraq). One section (62m thick) has been measured in the field and closely sampled to undertake detailed microfaciesal and micropalaeontological studies to determine the formation-s age and environment of deposition. A samples were collected illustrating all the lithological changes along the section. The limestone in the studied area is hard and extremely rich in large foraminifers (soritids, rotaliids, nummulites, miliolids) and green algae (dasycladales). The investigation of the thin sections allowed us to identify the carbonate microfacies (18 types and subtypes) and the micropaleontological association (foraminifers and green algae), to determine the age of formation and to reconstruct the paleoenvironment of deposition (fore-reef, reef, back-reef). Based on the field observations and the studied thin sections, we determined three Units of a carbonate platform (I, II and III) from the base to the top of the section: Unit I with coralgal associations, Unit II is dominated by larger foraminifers and haracterized by the absence of coralgal associations, while Unit III is dominated by small foraminifers (mostly miliolids), peloids and green algae. It is partially dolomitized.
Abstract: Vermicomposting is the conversion of organic waste
into bio-fertilizers through the action of earthworm. This technology
is widely used for organic solid waste management. Waste corn pulp
blended with cow dung manure was vermicomposted over 30 days
using Eisenia fetida earthworms species. pH, temperature, moisture
content, and electrical conductivity were daily monitored. The
feedstock, vermicompost and vermiwash were analyzed for nutrient
composition. The average temperature and moisture content in the
vermi-reactor was 22.5°C and 42.5% respectively. The vermicompost
and vermiwash had an almost neutral pH whilst the electrical
conductivity was 21% higher in the vermicompost. The nitrogen and
potassium content was 57% and 79.6% richer in the vermicompost
respectively compared to the vermiwash. However, the vermiwash
was 84% richer in phosphorous as compared to vermicompost.
Furthermore, the vermiwash was 89.1% and 97.6% richer in Ca and
Mg respectively and was 97.8% richer in Na salts compared to the
vermicompost. The vermiwash also indicated a significantly higher
amount of micronutrients. Both bio-fertilizers were rich in nutrients
specification for fertilizers.
Abstract: In this paper, vapour-liquid critical locus for the
binary system acetone + chloroform was determined experimentally
over the whole range of composition. The critical property
measurements were carried out using a dynamic-synthetic apparatus,
employed in the dynamic mode. The critical points are visually
determined by observing the critical opalescence and the
simultaneous disappearance and reappearance of the meniscus in the
middle of a high-pressure view cell which withstands operations up
to 673K and 20MPa. The experimental critical points measured in
this work were compared to those available in literature.
Abstract: A new approach for facial expressions recognition based on face context and adaptively weighted sub-pattern PCA (Aw-SpPCA) has been presented in this paper. The facial region and others part of the body have been segmented from the complex environment based on skin color model. An algorithm has been proposed to accurate detection of face region from the segmented image based on constant ratio of height and width of face (δ= 1.618). The paper also discusses on new concept to detect the eye and mouth position. The desired part of the face has been cropped to analysis the expression of a person. Unlike PCA based on a whole image pattern, Aw-SpPCA operates directly on its sub patterns partitioned from an original whole pattern and separately extracts features from them. Aw-SpPCA can adaptively compute the contributions of each part and a classification task in order to enhance the robustness to both expression and illumination variations. Experiments on single standard face with five types of facial expression database shows that the proposed method is competitive.
Abstract: This paper aims to (1) analyze the profiles of
transgressors (detected evaders); (2) examine reason(s) that triggered a
tax audit, causes of tax evasion, audit timeframe and tax penalty
charged; and (3) to assess if tax auditors followed the guidelines as
stated in the 'Tax Audit Framework' when conducting tax audits. In
2011, the Inland Revenue Board Malaysia (IRBM) had audited and
finalized 557 company cases. With official permission, data of all the
557 cases were obtained from the IRBM. Of these, a total of 421 cases
with complete information were analyzed. About 58.1% was small and
medium corporations and from the construction industry (32.8%). The
selection for tax audit was based on risk analysis (66.8%), information
from third party (11.1%), and firm with low profitability or fluctuating
profit pattern (7.8%). The three persistent causes of tax evasion by
firms were over claimed expenses (46.8%), fraudulent reporting of
income (38.5%) and overstating purchases (10.5%). These findings
are consistent with past literature. Results showed that tax auditors
took six to 18 months to close audit cases. More than half of tax
evaders were fined 45% on additional tax raised during audit for the
first offence. The study found tax auditors did follow the guidelines in
the 'Tax Audit Framework' in audit selection, settlement and penalty
imposition.
Abstract: We see in the present day scenario that the Global
positioning system (GPS) has been an effective tool to track the
vehicle. However the adverse part of it is that it can only track a
vehicle-s position. Our present work provides a better platform to
track and disable a vehicle using wireless technology. In our system
we embed a microcomputer which monitors the series of automotive
systems like engine, fuel and braking system. The external USB
modem is connected with the microcomputer to provide 24 x 7
internet accesses. The microcomputer is synchronized with the
owner-s multimedia mobile by means of a software tool “REMOTE
DESKTOP". A unique username and password is provided to the
software tool, so that the owner can only access the microcomputer
through the internet on owner-s mobile. The key fact is that our
design is placed such that it is known only to the owner.
Abstract: Based on assumptions of neo-classical economics and
rational choice / public choice theory, this paper investigates the
regulation of industrial land use in Taiwan by homeowners
associations (HOAs) as opposed to traditional government
administration. The comparison, which applies the transaction cost
theory and a polynomial regression analysis, manifested that HOAs
are superior to conventional government administration in terms of
transaction costs and overall efficiency. A case study that compares
Taiwan-s commonhold industrial park, NangKang Software Park, to
traditional government counterparts using limited data on the costs
and returns was analyzed. This empirical study on the relative
efficiency of governmental and private institutions justified the
important theoretical proposition. Numerical results prove the
efficiency of the established model.
Abstract: The application of a high frequency signal injection method as speed and position observer in PMSM drives has been a research focus. At present, the precision of this method is nearly good as that of ten-bit encoder. But there are some questions for estimating position polarity. Based on high frequency signal injection, this paper presents a method to compensate position polarity for permanent magnet synchronous motor (PMSM). Experiments were performed to test the effectiveness of the proposed algorithm and results present the good performance.
Abstract: Intermetallic Ni3Al – based alloys belong to a group
of advanced materials characterized by good chemical and physical
properties (such as structural stability, corrosion resistance) which
offer advenced technological applications. The paper presents the
study of catalytic properties of Ni3Al foils (thickness approximately
50 &m) in the methanol and hexane decomposition. The egzamined
material posses microcrystalline structure without any additional
catalysts on the surface. The better catalytic activity of Ni3Al foils
with respect to quartz plates in both methanol and hexane
decomposition was confirmed. On thin Ni3Al foils the methanol
conversion reaches approximately 100% above 480 oC while the
hexane conversion reaches approximately 100% (98,5%) at 500 oC.
Deposit formed during the methanol decomposition is built up of
carbon nanofibers decorated with metal-like nanoparticles.
Abstract: The hydrogen peroxide treatment was able to
remediate chlorophenols, polycyclic aromatic hydrocarbons, diesel
and transformer oil contaminated soil. Chemical treatment of
contaminants adsorbed in peat resulted in lower contaminants-
removal and required higher addition of chemicals than the treatment
of contaminants in sand. The hydrogen peroxide treatment was found
to be feasible for soil remediation at natural soil pH. Contaminants in
soil could degrade with the addition of hydrogen peroxide only
indicating the ability of transition metals ions and minerals of these
metals presented in soil to catalyse the reaction of hydrogen peroxide
decomposition.
Abstract: This research is to design and implement a new kind
of agitators called differential agitator. The Differential Agitator is an
electro- mechanic set consists of two shafts. The first shaft is the
bearing axis while the second shaft is the axis of the quartet upper
bearing impellers group and the triple lower group which are called
as agitating group. The agitating group is located inside a cylindrical
container equipped especially to contain square directors for the
liquid entrance and square directors called fixing group for the liquid
exit. The fixing group is installed containing the agitating group
inside any tank whether from upper or lower position. The agitating
process occurs through the agitating group bearing causing a lower
pressure over the upper group leading to withdrawing the liquid from
the square directors of the liquid entering and consequently the liquid
moves to the denser place under the quartet upper group. Then, the
liquid moves to the so high pressure area under the agitating group
causing the liquid to exit from the square directors in the bottom of
the container. For improving efficiency, parametric study and shape
optimization has been carried out. A numerical analysis,
manufacturing and laboratory experiments were conducted to design
and implement the differential agitator. Knowing the material
prosperities and the loading conditions, the FEM using ANSYS11
was used to get the optimum design of the geometrical parameters of
the differential agitator elements while the experimental test was
performed to validate the advantages of the differential agitators to
give a high agitation performance of lime in the water as an example.
In addition, the experimental work has been done to express the
internal container shape in the agitation efficiency. The study ended
up with conclusions to maximize agitator performance and optimize
the geometrical parameters to be used for manufacturing the
differential agitator
Abstract: In this paper, we focus on the fusion of images from
different sources using multiresolution wavelet transforms. Based on
reviews of popular image fusion techniques used in data analysis,
different pixel and energy based methods are experimented. A novel
architecture with a hybrid algorithm is proposed which applies pixel
based maximum selection rule to low frequency approximations and
filter mask based fusion to high frequency details of wavelet
decomposition. The key feature of hybrid architecture is the
combination of advantages of pixel and region based fusion in a
single image which can help the development of sophisticated
algorithms enhancing the edges and structural details. A Graphical
User Interface is developed for image fusion to make the research
outcomes available to the end user. To utilize GUI capabilities for
medical, industrial and commercial activities without MATLAB
installation, a standalone executable application is also developed
using Matlab Compiler Runtime.
Abstract: This paper presents a new adaptive impedance control
strategy, based on Function Approximation Technique (FAT) to
compensate for unknown non-flat environment shape or time-varying
environment location. The target impedance in the force controllable
direction is modified by incorporating adaptive compensators and the
uncertainties are represented by FAT, allowing the update law to be
derived easily. The force error feedback is utilized in the estimation
and the accurate knowledge of the environment parameters are not
required by the algorithm. It is shown mathematically that the
stability of the controller is guaranteed based on Lyapunov theory.
Simulation results presented to demonstrate the validity of the
proposed controller.