Abstract: This paper proposes a method of adaptively generating a gait pattern of biped robot. The gait synthesis is based on human's gait pattern analysis. The proposed method can easily be applied to generate the natural and stable gait pattern of any biped robot. To analyze the human's gait pattern, sequential images of the human's gait on the sagittal plane are acquired from which the gait control values are extracted. The gait pattern of biped robot on the sagittal plane is adaptively generated by a genetic algorithm using the human's gait control values. However, gait trajectories of the biped robot on the sagittal plane are not enough to construct the complete gait pattern because the biped robot moves on 3-dimension space. Therefore, the gait pattern on the frontal plane, generated from Zero Moment Point (ZMP), is added to the gait one acquired on the sagittal plane. Consequently, the natural and stable walking pattern for the biped robot is obtained.
Abstract: In this paper we consider the issue of distributed adaptive estimation over sensor networks. To deal with more realistic scenario, different variance for observation noise is assumed for sensors in the network. To solve the problem of different variance of observation noise, the proposed method is divided into two phases: I) Estimating each sensor-s observation noise variance and II) using the estimated variances to obtain the desired parameter. Our proposed algorithm is based on a diffusion least mean square (LMS) implementation with linear combiner model. In the proposed algorithm, the step-size parameter the coefficients of linear combiner are adjusted according to estimated observation noise variances. As the simulation results show, the proposed algorithm considerably improves the diffusion LMS algorithm given in literature.
Abstract: This study was conducted to investigate the incidence
of pathogenic bacteria: Salmonella, Shigella, Escherichia coli O157
and Staphylococcus aureus in cakes and tarts collected from thirtyfive
confectionery producing and selling premises located within
Tripoli city, Libya. The results revealed an incidence of S. aureus
with 94.4 and 48.0 %, E. coli O157 with 14.7 and 4.0 % and Salmonella
sp. with 5.9 and 8.0 % in cakes and tarts samples respectively;
while Shigella was not detected in all samples. In order to determine
the source of these pathogenic bacteria, cotton swabs were taken
from the hands of workers on the production line, the surfaces of
preparation tables and cream whipping instruments. The results
showed that the cotton swabs obtained from the hands of workers
contained S. aureus and Salmonella sp. with an incidence of 42.9 and
2.9 %, the cotton swabs obtained from the surfaces of preparation
tables 22.9 and 2.9 % and the cotton swabs obtained from the cream
whipping instruments 14.3 and 0.0 % respectively; while E. coli
O157 and Shigella sp. were not detected in all swabs. Additionally,
other bacteria were isolated from the hands of workers and the Surfaces
of producing equipments included: Aeromonas sp., Pseudomonas
sp., E. coli, Klebsiella sp., Enterobacter sp., Citrobacter sp.,
Proteus sp., Serratia sp. and Acinetobacter sp. These results indicate
that some of the cakes and tarts might pose threat to consumer's
health. Meanwhile, occurrences of pathogenic bacteria on the hands
of those who are working in production line and the surfaces of
equipments reflect poor hygienic practices at most confectionery
premises examined in this study. Thus, firm and continuous surveillance
of these premises is needed to insure the consumer's health and
safety.
Abstract: Underpricing is one anomaly in initial public offerings
(IPO) literature that has been widely observed across different stock
markets with different trends emerging over different time periods.
This study seeks to determine how IPOs on the JSE performed on the
first day, first week and first month over the period of 1996-2011.
Underpricing trends are documented for both hot and cold market
periods in terms of four main sectors (cyclical, defensive, growth
stock and interest rate sensitive stocks). Using a sample of 360 listed
companies on the JSE, the empirical findings established that IPOs
on the JSE are significantly underpriced with an average market
adjusted first day return of 62.9%. It is also established that hot
market IPOs on the JSE are more underpriced than the cold market
IPOs. Also observed is the fact that as the offer price per share
increases above the median price for any given period, the level of
underpricing decreases substantially. While significant differences
exist in the level of underpricing of IPOs in the four different sectors
in the hot and cold market periods, interest rates sensitive stocks
showed a different trend from the other sectors and thus require
further investigation to uncover this pattern.
Abstract: Khao Yai National Park is the First National Park in
Thailand and approximately 800,000 tourists visited Khao Yai yearly.
This study aimed to identify the perception of tourists in Khao Yai
National Park according to the implementation of eco-friendly
cleansers along their leisure in the campsites. Due to tourist’s
activities in the park were affected on quality of environment;
especially on water resource. Therefore, eco-friendly cleansers were
used in campsites for tourists and restaurants during high tourist
season. The results indicated positive effects of environmental
friendly cleansers on water quality in Lam Ta Khong River, as well
as the tourist’s perception on eco-friendly cleansers.
Abstract: This study analyzed environmental health risks and
people-s perceptions of risks related to waste management in poor
settlements of Abidjan, to develop integrated solutions for health and
well-being improvement. The trans-disciplinary approach used relied
on remote sensing, a geographic information system (GIS),
qualitative and quantitative methods such as interviews and a
household survey (n=1800). Mitigating strategies were then
developed using an integrated participatory stakeholder workshop.
Waste management deficiencies resulting in lack of drainage and
uncontrolled solid and liquid waste disposal in the poor settlements
lead to severe environmental health risks. Health problems were
caused by direct handling of waste, as well as through broader
exposure of the population. People in poor settlements had little
awareness of health risks related to waste management in their
community and a general lack of knowledge pertaining to sanitation
systems. This unfortunate combination was the key determinant
affecting the health and vulnerability. For example, an increased
prevalence of malaria (47.1%) and diarrhoea (19.2%) was observed
in the rainy season when compared to the dry season (32.3% and
14.3%). Concerted and adapted solutions that suited all the
stakeholders concerned were developed in a participatory workshop
to allow for improvement of health and well-being.
Abstract: The objective of this work is to investigate the
turbulent reacting flow in a three dimensional combustor with
emphasis on the effect of inlet swirl flow through a numerical
simulation. Flow field is analyzed using the SIMPLE method which is
known as stable as well as accurate in the combustion modeling, and
the finite volume method is adopted in solving the radiative transfer
equation. In this work, the thermal and flow characteristics in a three
dimensional combustor by changing parameters such as equivalence
ratio and inlet swirl angle have investigated. As the equivalence ratio
increases, which means that more fuel is supplied due to a larger inlet
fuel velocity, the flame temperature increases and the location of
maximum temperature has moved towards downstream. In the mean
while, the existence of inlet swirl velocity makes the fuel and
combustion air more completely mixed and burnt in short distance.
Therefore, the locations of the maximum reaction rate and temperature
were shifted to forward direction compared with the case of no swirl.
Abstract: This is a survey research using quantitative and qualitative methodology. There were three objectives: 1) To study participatory level of community in water and waste environment management. 2) To study the affecting factors for community participation in water and waste environment management in Ampawa District, Samut Songkram Province. 3) To search for the participatory patterns in water and waste management. The population sample for the quantitative research was 1,364 people living in Ampawa District. The methodology was simple random sampling. Research instrument was a questionnaire and the qualitative research used purposive sampling in 6 Sub Districts which are Ta Ka, Suanluang, Bangkae, Muangmai, Kwae-om, and Bangnanglee Sub District Administration Organization. Total population is 63. For data analysis, the study used content analysis from quantitative research to synthesize and build question frame from the content for interview and conducting focus group interview. The study found that the community participatory in the issue of level in water and waste management are moderate of planning, operation, and evaluation. The issue of being beneficial is at low level. Therefore, the overall participatory level of community in water and waste environment management is at a medium level. The factors affecting the participatory of community in water and waste management are age, the period dwelling in the community and membership in which the mean difference is statistic significant at 0.05 in area of operation, being beneficial, and evaluation. For patterns of community participation, there is the correlation with water and waste management in 4 concerns which are 1) Participation in planning 2) Participation in operation 3) Participation in being beneficial both directly and indirectly benefited 4) Participation in evaluation and monitoring. The recommendation from this study is the need to create conscious awareness in order to increase participation level of people by organizing activities that promote participation with volunteer spirit. Government should open opportunities for people to participate in sharing ideas and create the culture of living together with equality which would build more concrete participation.
Abstract: An electrocardiogram (ECG) feature extraction system
based on the calculation of the complex resonance frequency
employing Prony-s method is developed. Prony-s method is applied
on five different classes of ECG signals- arrhythmia as a finite sum
of exponentials depending on the signal-s poles and the resonant
complex frequencies. Those poles and resonance frequencies of the
ECG signals- arrhythmia are evaluated for a large number of each
arrhythmia. The ECG signals of lead II (ML II) were taken from
MIT-BIH database for five different types. These are the ventricular
couplet (VC), ventricular tachycardia (VT), ventricular bigeminy
(VB), and ventricular fibrillation (VF) and the normal (NR). This
novel method can be extended to any number of arrhythmias.
Different classification techniques were tried using neural networks
(NN), K nearest neighbor (KNN), linear discriminant analysis (LDA)
and multi-class support vector machine (MC-SVM).
Abstract: Mobile IPv6 (MIPv6) describes how mobile node can change its point of attachment from one access router to another. As a demand for wireless mobile devices increases, many enhancements for macro-mobility (inter-domain) protocols have been proposed, designed and implemented in Mobile IPv6. Hierarchical Mobile IPv6 (HMIPv6) is one of them that is designed to reduce the amount of signaling required and to improve handover speed for mobile connections. This is achieved by introducing a new network entity called Mobility Anchor Point (MAP). This report presents a comparative study of the Hierarchical Mobility IPv6 and Mobile IPv6 protocols and we have narrowed down the scope to micro-mobility (intra-domain). The architecture and operation of each protocol is studied and they are evaluated based on the Quality of Service (QoS) parameter; handover latency. The simulation was carried out by using the Network Simulator-2. The outcome from this simulation has been discussed. From the results, it shows that, HMIPv6 performs best under intra-domain mobility compared to MIPv6. The MIPv6 suffers large handover latency. As enhancement we proposed to HMIPv6 to locate the MAP to be in the middle of the domain with respect to all Access Routers. That gives approximately same distance between MAP and Mobile Node (MN) regardless of the new location of MN, and possible shorter distance. This will reduce the delay since the distance is shorter. As a future work performance analysis is to be carried for the proposed HMIPv6 and compared to HMIPv6.
Abstract: A new robust nonlinear control scheme of a manipulator is proposed in this paper which is robust against modeling errors and unknown disturbances. It is based on the principle of variable structure control, with sliding mode control (SMC) method. The variable structure control method is a robust method that appears to be well suited for robotic manipulators because it requers only bounds on the robotic arm parameters. But there is no single systematic procedure that is guaranteed to produce a suitable control law. Also, to reduce chattring of the control signal, we replaced the sgn function in the control law by a continuous approximation such as tangant function. We can compute the maximum load with regard to applied torque into joints. The effectivness of the proposed approach has been evaluated analitically demonstrated through computer simulations for the cases of variable load and robot arm parameters.
Abstract: In this paper, the authors take a look at advantages of
multiphase induction motors comparing them with three phase ones
and present the applications where six-phase induction motors are
used. They elaborate the mathematical model of six-phase induction
motor with two similar stator three phase winding, shifted by 30
degrees in space and three phase winding in rotor, in synchronous
reference frame for soft starting and scalar control. The authors
simulate and discuss results of speed and torque starting transients.
Abstract: Condition monitoring of electrical power equipment
has attracted considerable attention for many years. The aim of this
paper is to use Labview with Fuzzy Logic controller to build a
simulation system to diagnose transformer faults and monitor its
condition. The front panel of the system was designed using
LabVIEW to enable computer to act as customer-designed
instrument. The dissolved gas-in-oil analysis (DGA) method was
used as technique for oil type transformer diagnosis; meanwhile
terminal voltages and currents analysis method was used for dry type
transformer. Fuzzy Logic was used as expert system that assesses all
information keyed in at the front panel to diagnose and predict the
condition of the transformer. The outcome of the Fuzzy Logic
interpretation will be displayed at front panel of LabVIEW to show
the user the conditions of the transformer at any time.
Abstract: Permanent rivers are the main sources of renewable
water supply for the croplands under the irrigation and drainage
schemes. They are also the major source of sediment loads transport
into the storage reservoirs of the hydro-electrical dams, diversion
weirs and regulating dams. Sedimentation process results from soil
erosion which is related to poor watershed management and human
intervention ion in the hydraulic regime of the rivers. These could
change the hydraulic behavior and as such, leads to riverbed and river
bank scouring, the consequences of which would be sediment load
transport into the dams and therefore reducing the flow discharge in
water intakes. The present paper investigate sedimentation process
by varying the Manning coefficient "n" by using the SHARC
software along the watercourse in the Dez River. Results indicated
that the optimum "n" within that river range is 0.0315 at which
quantity minimum sediment loads are transported into the Eastern
intake. Comparison of the model results with those obtained by those
from the SSIIM software within the same river reach showed a very
close proximity between them. This suggests a relative accuracy with
which the model can simulate the hydraulic flow characteristics and
therefore its suitability as a powerful analytical tool for project
feasibility studies and project implementation.
Abstract: Breast motion and discomfort has been studied in
Australia, Britain and the United States, while little information was
known about the breast motion conditions of Chinese women. The aim
of this paper was to study the breast motion and discomfort of Chinese
women in no bra condition, daily bra condition and sports bra
condition. Breast motion and discomfort of 8 participants was assessed
during walking at 5km h-1 and running at 10km h-1. Statistical methods
were used to analyze the difference and relationship between breast
displacement, perceived breast motion and breast discomfort. Three
indexes were developed to evaluate the functions of bras on reducing
objective breast motion, subjective breast motion and breast
discomfort. The result showed that breast motion of Chinese women
was smaller than previous research, which may be resulted from
smaller breast size in Asian women.
Abstract: In this paper multivariable predictive PID controller has
been implemented on a multi-inputs multi-outputs control problem
i.e., quadruple tank system, in comparison with a simple multiloop
PI controller. One of the salient feature of this system is an
adjustable transmission zero which can be adjust to operate in both
minimum and non-minimum phase configuration, through the flow
distribution to upper and lower tanks in quadruple tank system.
Stability and performance analysis has also been carried out for this
highly interactive two input two output system, both in minimum
and non-minimum phases. Simulations of control system revealed
that better performance are obtained in predictive PID design.
Abstract: This paper presents the study of parameters affecting
the environment protection in the printing industry. The paper has
also compared LCA studies performed within the printing industry in
order to identify common practices, limitations, areas for
improvement, and opportunities for standardization. This comparison
is focused on the data sources and methodologies used in the printing
pollutants register. The presented concepts, methodology and results
represent the contribution to the sustainable development
management. Furthermore, the paper analyzes the result of the
quantitative identification of hazardous substances emitted in printing
industry of Novi Sad.
Abstract: In current common research reports, salient regions
are usually defined as those regions that could present the main
meaningful or semantic contents. However, there are no uniform
saliency metrics that could describe the saliency of implicit image
regions. Most common metrics take those regions as salient regions,
which have many abrupt changes or some unpredictable
characteristics. But, this metric will fail to detect those salient useful
regions with flat textures. In fact, according to human semantic
perceptions, color and texture distinctions are the main characteristics
that could distinct different regions. Thus, we present a novel saliency
metric coupled with color and texture features, and its corresponding
salient region extraction methods. In order to evaluate the
corresponding saliency values of implicit regions in one image, three
main colors and multi-resolution Gabor features are respectively used
for color and texture features. For each region, its saliency value is
actually to evaluate the total sum of its Euclidean distances for other
regions in the color and texture spaces. A special synthesized image
and several practical images with main salient regions are used to
evaluate the performance of the proposed saliency metric and other
several common metrics, i.e., scale saliency, wavelet transform
modulus maxima point density, and important index based metrics.
Experiment results verified that the proposed saliency metric could
achieve more robust performance than those common saliency
metrics.
Abstract: The present paper presents a finite element model and
analysis for the interaction between a piezoresistive tactile sensor and
biological tissues. The tactile sensor is proposed for use in minimally
invasive surgery to deliver tactile information of biological tissues to
surgeons. The proposed sensor measures the relative hardness of soft
contact objects as well as the contact force. Silicone rubbers were
used as the phantom of biological tissues. Finite element analysis of
the silicone rubbers and the mechanical structure of the sensor were
performed using COMSOL Multiphysics (v3.4) environment. The
simulation results verify the capability of the sensor to be used to
differentiate between different kinds of silicone rubber materials.
Abstract: In this paper, creep constitutive equations of base
(Parent) and weld materials of the weldment for cold-drawn 304L
stainless steel have been obtained experimentally. For this purpose,
test samples have been generated from cold drawn bars and weld
material according to the ASTM standard. The creep behavior and
properties have been examined for these materials by conducting uniaxial
creep tests. Constant temperatures and constant load uni-axial
creep tests have been carried out at two high temperatures, 680 and
720 oC, subjected to constant loads, which produce initial stresses
ranging from 240 to 360 MPa. The experimental data have been used
to obtain the creep constitutive parameters using numerical
optimization techniques.