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: 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: The aim of this study is to compare the effect of the ultrasonic pre treatment on the removal of heavy metals (Iron, Zinc and Copper) from Acid Mine Drainage (AMD) by Denver Cell flotation. Synthetic AMD and individual metal solutions are used in the initial experiments to optimise the process conditions for real AMD. Three different process methods, ultrasound treatment followed by Denver flotation cell, Denver flotation cell alone and ultrasonic treatments run simultaneously with the Denver flotation cell were tested for every sample. Precipitation of the metal solutions by using sodium hydroxide (NaOH) and application of the optimum frother dosage followed by flotation significantly reduced the metal content of the AMD.
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 this paper, we propose an energy efficient cluster
based communication protocol for wireless sensor network. Our
protocol considers both the residual energy of sensor nodes and the
distance of each node from the BS when selecting cluster-head. This
protocol can successfully prolong the network-s lifetime by 1)
reducing the total energy dissipation on the network and 2) evenly
distributing energy consumption over all sensor nodes. In this
protocol, the nodes with more energy and less distance from the BS
are probable to be selected as cluster-head. Simulation results with
MATLAB show that proposed protocol could increase the lifetime of
network more than 94% for first node die (FND), and more than 6%
for the half of the nodes alive (HNA) factor as compared with
conventional protocols.
Abstract: The necessity of updating the numerical models inputs, because of geometrical and resistive variations in rivers subject to solid transport phenomena, requires detailed control and monitoring activities. The human employment and financial resources of these activities moves the research towards the development of expeditive methodologies, able to evaluate the outflows through the measurement of more easily acquirable sizes. Recent studies highlighted the dependence of the entropic parameter on the kinematical and geometrical flow conditions. They showed a meaningful variability according to the section shape, dimension and slope. Such dependences, even if not yet well defined, could reduce the difficulties during the field activities, and also the data elaboration time. On the basis of such evidences, the relationships between the entropic parameter and the geometrical and resistive sizes, obtained through a large and detailed laboratory experience on steady free surface flows in conditions of macro and intermediate homogeneous roughness, are analyzed and discussed.
Abstract: The aim of this paper is to present a methodology in
three steps to forecast supply chain demand. In first step, various data
mining techniques are applied in order to prepare data for entering
into forecasting models. In second step, the modeling step, an
artificial neural network and support vector machine is presented
after defining Mean Absolute Percentage Error index for measuring
error. The structure of artificial neural network is selected based on
previous researchers' results and in this article the accuracy of
network is increased by using sensitivity analysis. The best forecast
for classical forecasting methods (Moving Average, Exponential
Smoothing, and Exponential Smoothing with Trend) is resulted based
on prepared data and this forecast is compared with result of support
vector machine and proposed artificial neural network. The results
show that artificial neural network can forecast more precisely in
comparison with other methods. Finally, forecasting methods'
stability is analyzed by using raw data and even the effectiveness of
clustering analysis is measured.
Abstract: Fly ash is a significant waste that is released of
thermal power plants and defined as very fine particles that are drifted upward with up taken by the flue gases due to the burning of
used coal [1]. The fly-ash is capable of removing organic
contaminants in consequence of high carbon content, a large surface area per unit volume and contained heavy metals. Therefore, fly ash
is used as an effective coagulant and adsorbent by pelletization [2, 3].
In this study, the possibility of use of fly ash taken from Turkey like low-cost adsorbent for adsorption of zinc ions found in waste
water was investigated. The fly ash taken from Turkey was pelletized with bentonite and molass to evaluate the adsorption capaticity. For
this purpose; analyses such as sieve analysis, XRD, XRF, FTIR and SEM were performed. As a result, it was seen that pellets prepared
from fly ash, bentonite and molass would be used for zinc adsorption.
Abstract: In this paper, we propose a Perceptually Optimized Foveation based Embedded ZeroTree Image Coder (POEFIC) that introduces a perceptual weighting to wavelet coefficients prior to control SPIHT encoding algorithm in order to reach a targeted bit rate with a perceptual quality improvement with respect to a given bit rate a fixation point which determines the region of interest ROI. The paper also, introduces a new objective quality metric based on a Psychovisual model that integrates the properties of the HVS that plays an important role in our POEFIC quality assessment. Our POEFIC coder is based on a vision model that incorporates various masking effects of human visual system HVS perception. Thus, our coder weights the wavelet coefficients based on that model and attempts to increase the perceptual quality for a given bit rate and observation distance. The perceptual weights for all wavelet subbands are computed based on 1) foveation masking to remove or reduce considerable high frequencies from peripheral regions 2) luminance and Contrast masking, 3) the contrast sensitivity function CSF to achieve the perceptual decomposition weighting. The new perceptually optimized codec has the same complexity as the original SPIHT techniques. However, the experiments results show that our coder demonstrates very good performance in terms of quality measurement.
Abstract: In the current research, neuro-fuzzy model and regression model was developed to predict Material Removal Rate in Electrical Discharge Machining process for AISI D2 tool steel with copper electrode. Extensive experiments were conducted with various levels of discharge current, pulse duration and duty cycle. The experimental data are split into two sets, one for training and the other for validation of the model. The training data were used to develop the above models and the test data, which was not used earlier to develop these models were used for validation the models. Subsequently, the models are compared. It was found that the predicted and experimental results were in good agreement and the coefficients of correlation were found to be 0.999 and 0.974 for neuro fuzzy and regression model respectively
Abstract: The overall penumbra is usually defined as the
distance, p20–80, separating the 20% and 80% of the dose on the beam axis at the depth of interest. This overall penumbra accounts
also for the fact that some photons emitted by the distal parts of the source are only partially attenuated by the collimator. Medulloblastoma is the most common type of childhood brain tumor
and often spreads to the spine. Current guidelines call for surgery to remove as much of the tumor as possible, followed by radiation of the brain and spinal cord, and finally treatment with chemotherapy.
The purpose of this paper was to present results on an Uniformity of dose distribution in radiation fields surrounding the spine using film
dosimetry and comparison with 3D treatment planning software.
Abstract: Soil washing process with a surfactant solution is a potential technology for the rapid removal of hydrophobic organic compound (HOC) from soil. However, large amount of washed water would be produced during operation and this should be treated effectively by proper methods. The soil washed water for complex contaminated site with HOC and heavy metals might contain high amount of pollutants such as HOC and heavy metals as well as used surfactant. The heavy metals in the soil washed water have toxic effects on microbial activities thus these should be removed from the washed water before proceeding to a biological waste-water treatment system. Moreover, the used surfactant solutions are necessary to be recovered for reducing the soil washing operation cost. In order to simultaneously remove the heavy metals and HOC from soil-washed water, activated carbon (AC) was used in the present study. In an anionic-nonionic surfactant mixed solution, the Cd(II) and phenanthrene (PHE) were effectively removed by adsorption on activated carbon. The removal efficiency for Cd(II) was increased from 0.027 mmol-Cd/g-AC to 0.142 mmol-Cd/g-AC as the mole ratio of SDS increased in the presence of PHE. The adsorptive capacity of PHE was also increased according to the SDS mole ratio due to the decrement of molar solubilization ratios (MSR) for PHE in an anionic-nonionic surfactant mixture. The simultaneous adsorption of HOC and cationic heavy metals using activated carbon could be a useful method for surfactant recovery and the reduction of heavy metal toxicity in a surfactant-enhanced soil washing process.
Abstract: The purposes of this paper are to (1) promote excellence in computer science by suggesting a cohesive innovative approach to fill well documented deficiencies in current computer science education, (2) justify (using the authors' and others anecdotal evidence from both the classroom and the real world) why this approach holds great potential to successfully eliminate the deficiencies, (3) invite other professionals to join the authors in proof of concept research. The authors' experiences, though anecdotal, strongly suggest that a new approach involving visual modeling technologies should allow computer science programs to retain a greater percentage of prospective and declared majors as students become more engaged learners, more successful problem-solvers, and better prepared as programmers. In addition, the graduates of such computer science programs will make greater contributions to the profession as skilled problem-solvers. Instead of wearily rememorizing code as they move to the next course, students will have the problem-solving skills to think and work in more sophisticated and creative ways.
Abstract: The notion of Next Generation Network (NGN) is
based on the Network Convergence concept which refers to
integration of services (such as IT and communication services) over
IP layer. As the most popular implementation of Service Oriented
Architecture (SOA), Web Services technology is known to be the
base for service integration. In this paper, we present a platform to
deliver communication services as web services. We also implement
a sample service to show the simplicity of making composite web
and communication services using this platform. A Service Logic
Execution Environment (SLEE) is used to implement the
communication services. The proposed architecture is in agreement
with Service Oriented Architecture (SOA) and also can be integrated
to an Enterprise Service Bus to make a base for NGN Service
Delivery Platform (SDP).
Abstract: Artifact rejection plays a key role in many signal processing applications. The artifacts are disturbance that can occur during the signal acquisition and that can alter the analysis of the signals themselves. Our aim is to automatically remove the artifacts, in particular from the Electroencephalographic (EEG) recordings. A technique for the automatic artifact rejection, based on the Independent Component Analysis (ICA) for the artifact extraction and on some high order statistics such as kurtosis and Shannon-s entropy, was proposed some years ago in literature. In this paper we try to enhance this technique proposing a new method based on the Renyi-s entropy. The performance of our method was tested and compared to the performance of the method in literature and the former proved to outperform the latter.
Abstract: The cinema in Turkey during the 1940s was shaped
under the Second World War conditions. The amateur film makers
from different socioeconomic roots experienced movie production in
those years. Having similar socioeconomic characteristics and
autobiographies, each of them has a different understanding of
cinema. Nevertheless, they joined in making movies which address
native culture and audience. They narrated indigenous stories with
native music, amateur players and simple settings. Although the
martial law, censorship and economical deficiencies, they started to
produce films in the Second World War. The cinematographers of the
1940s usually called as thetransition period cinematographers in
Turkey, producing in the passage between the period of thetheatre
playersand the period of thenational cinema. But, 1940- 1950 period
of Turkish cinema should be defined not as a transition but a period
of forming the professional conscioussness in cinema.
Abstract: Since Cloud environment has appeared as the most powerful
keyword in the computing industry, the growth in VDI (Virtual Desktop
Infrastructure) became remarkable in domestic market. In recent years, with the trend
that mobile devices such as smartphones and pads spread so rapidly, the strengths of
VDI that allows people to access and perform business on the move along with
companies' office needs expedite more rapid spread of VDI.
In this paper, mobile OTP (One-Time Password) authentication method is proposed
to secure mobile device portability through rapid and secure authentication using
mobile devices such as mobile phones or pads, which does not require additional
purchase or possession of OTP tokens of users. To facilitate diverse and wide use of
Services in the future, service should be continuous and stable, and above all, security
should be considered the most important to meet advanced portability and user
accessibility, the strengths of VDI.
Abstract: A 2-Degrees of freedom powered prosthetic wrist
actuator has been proposed that can provide the Abduction/Adduction
& Flexion/Extension movements of the human wrist. The basic
structure of the actuator is a Ball and Socket joint and the force is
transmitted from the DC geared servo motors to the joint through the
Bowden cables. The proposed design is capable of providing the
required DOF in both axes i.e. 85° & 90° in flexion extension axis.
The size and weight of the actuator lies within the ranges of an
average human being-s wrist.
Abstract: The aim of this paper is to present the role of
myotonometry in assessment muscle viscoelasticity by measurement
of force index (IF) and stiffness (S) at thigh muscle groups. The
results are used for improve the muscle training. The method is based
on mechanic impulse on the muscle group, that involve a muscle
response like acceleration, speed and amplitude curves. From these
we have information about elasticity, stiffness beginning from
mechanic oscillations of muscle tissue. Using this method offer the
possibility for monitoring the muscle capacity for produce mechanic
energy, that allows a efficiency of movement with a minimal tissue
deformation.
Abstract: With Power system movement toward restructuring along with factors such as life environment pollution, problems of transmission expansion and with advancement in construction technology of small generation units, it is expected that small units like wind turbines, fuel cells, photovoltaic, ... that most of the time connect to the distribution networks play a very essential role in electric power industry. With increase in developing usage of small generation units, management of distribution networks should be reviewed. The target of this paper is to present a new method for optimal management of active and reactive power in distribution networks with regard to costs pertaining to various types of dispersed generations, capacitors and cost of electric energy achieved from network. In other words, in this method it-s endeavored to select optimal sources of active and reactive power generation and controlling equipments such as dispersed generations, capacitors, under load tapchanger transformers and substations in a way that firstly costs in relation to them are minimized and secondly technical and physical constraints are regarded. Because the optimal management of distribution networks is an optimization problem with continuous and discrete variables, the new evolutionary method based on Ant Colony Algorithm has been applied. The simulation results of the method tested on two cases containing 23 and 34 buses exist and will be shown at later sections.