Abstract: Software project effort estimation is frequently seen
as complex and expensive for individual software engineers.
Software production is in a crisis. It suffers from excessive costs.
Software production is often out of control. It has been suggested that
software production is out of control because we do not measure.
You cannot control what you cannot measure. During last decade, a
number of researches on cost estimation have been conducted. The
metric-set selection has a vital role in software cost estimation
studies; its importance has been ignored especially in neural network
based studies. In this study we have explored the reasons of those
disappointing results and implemented different neural network
models using augmented new metrics. The results obtained are
compared with previous studies using traditional metrics. To be able
to make comparisons, two types of data have been used. The first
part of the data is taken from the Constructive Cost Model
(COCOMO'81) which is commonly used in previous studies and the
second part is collected according to new metrics in a leading
international company in Turkey. The accuracy of the selected
metrics and the data samples are verified using statistical techniques.
The model presented here is based on Multi-Layer Perceptron
(MLP). Another difficulty associated with the cost estimation studies
is the fact that the data collection requires time and care. To make a
more thorough use of the samples collected, k-fold, cross validation
method is also implemented. It is concluded that, as long as an
accurate and quantifiable set of metrics are defined and measured
correctly, neural networks can be applied in software cost estimation
studies with success
Abstract: In the last decade, carbohydrates have attracted great
attention as renewable resources for the chemical industry.
Carbohydrates are abundantly found in nature in the form of
monomers, oligomers and polymers, or as components of
biopolymers and other naturally occurring substances. As natural
products, they play important roles in conferring certain physical,
chemical, and biological properties to their carrier molecules.The
synthesis of this particular carbohydrate glycomonomer is part of our
work to obtain biodegradable polymers. Our current paper describes
the synthesis and characterization of a novel carbohydrate
glycomonomer starting from D-glucose, in several synthesis steps,
that involve the protection/deprotection of the D-glucose ring via
acetylation, tritylation, then selective deprotection of the aromaticaliphatic
protective group, in order to obtain 1,2,3,4-tetra-O-acetyl-
6-O-allyl-β-D-glucopyranose. The glycomonomer was then obtained
by the allylation in drastic conditions of 1,2,3,4-tetra-O-acetyl-6-Oallyl-
β-D-glucopyranose with allylic alcohol in the presence of
stannic chloride, in methylene chloride, at room temperature. The
proposed structure of the glycomonomer, 2,3,4-tri-O-acetyl-1,6-di-
O-allyl-β-D-glucopyranose, was confirmed by FTIR, NMR and
HPLC-MS spectrometry. This glycomonomer will be further
submitted to copolymerization with certain acrylic or methacrylic
monomers in order to obtain competitive plastic materials for
applications in the biomedical field.
Abstract: The objective of this study was to examine the interaction between mode of illness onset and psychiatric comorbidity on the health outcomes of persons with ME/CFS. A total of 114 individuals with ME/CFS participated in this study. Individuals completed a battery of baseline measures including the fatigue severity scale and measures of disability. Findings indicated that those with sudden illness onset had more impaired physical health functioning. In addition, among individuals with sudden onset, those without psychiatric comorbidity had greater fatigue severity and lower overall physical health than those with psychiatric comordibity. In contrast, among individuals with gradual illness onset, those with psychiatric comorbity had higher fatigue severity than those without comorbid psychiatric disorders. The health outcomes of individuals who have ME/CFS with or without psychiatric comorbidity are impacted by the mode of illness onset and this suggest that it is important to examine these factors in future research.
Abstract: The paper researched and presented a virtual simulation system based on a full-digital lunar terrain, integrated with kinematics and dynamics module as well as autonomous navigation simulation module. The system simulation models are established. Enabling technologies such as digital lunar surface module, kinematics and dynamics simulation, Autonomous navigation are investigated. A prototype system for lunar rover locomotion simulation is developed based on these technologies. Autonomous navigation is a key echnology in lunar rover system, but rarely involved in virtual simulation system. An autonomous navigation simulation module have been integrated in this prototype system, which was proved by the simulation results that the synthetic simulation and visualizing analysis system are established in the system, and the system can provide efficient support for research on the autonomous navigation of lunar rover.
Abstract: A Cable-Driven Locomotion Interface provides a low
inertia haptic interface and is used as a way of enabling the user
to walk and interact with virtual surfaces. These surfaces generate
Cartesian wrenches which must be optimized for each motorized
reel in order to reproduce a haptic sensation in both feet. However,
the use of wrench control requires a measure of the cable tensions
applied to the moving platform. The latter measure may be inaccurate
if it is based on sensors located near the reel. Moreover, friction
hysteresis from the reel moving parts needs to be compensated
for with an evaluation of low angular velocity of the motor shaft.
Also, the pose of the platform is not known precisely due to cable
sagging and mechanical deformation. This paper presents a non-ideal
motorized reel design with its corresponding control strategy that
aims at overcoming the aforementioned issues. A transfert function
of the reel based on frequency responses in function of cable tension
and cable length is presented with an optimal adaptative PIDF
controller. Finally, an hybrid position/tension control is discussed with
an analysis of the stability for achieving a complete functionnality of
the haptic platform.
Abstract: A procedural-animation-based approach which rapidly
synthesize the adaptive locomotion for quadruped characters that they
can walk or run in any directions on an uneven terrain within a
dynamic environment was proposed. We devise practical motion
models of the quadruped animals for adapting to a varied terrain in a
real-time manner. While synthesizing locomotion, we choose the
corresponding motion models by means of the footstep prediction of
the current state in the dynamic environment, adjust the key-frames of
the motion models relying on the terrain-s attributes, calculate the
collision-free legs- trajectories, and interpolate the key-frames
according to the legs- trajectories. Finally, we apply dynamic time
warping to each part of motion for seamlessly concatenating all desired
transition motions to complete the whole locomotion. We reduce the
time cost of producing the locomotion and takes virtual characters to
fit in with dynamic environments no matter when the environments are
changed by users.
Abstract: We present design, fabrication, and characterization of
a small (12 mm × 12 mm × 8 mm) movable railway vehicle for sensor
carrying. The miniature railway vehicle (MRV) was mainly composed
of a vibrational structure and three legs. A railway was designed and
fabricated to power and guide the MRV. It also transmits the sensed
data from the MRV to the signal processing unit. The MRV with legs
on the railway was moving due to its high-frequency vibration. A
model was derived to describe the motion. Besides, FEM simulations
were performed to design the legs. Then, the MRV and the railway
were fabricated by precision machining. Finally, an infrared sensor
was carried and tested. The result shows that the MRV without loading
was moving along the railway and its maximum speed was 12.2 mm/s.
Moreover, the testing signal was sensed by the MRV.
Abstract: This paper describes reactive neural control used to
generate phototaxis and obstacle avoidance behavior of walking
machines. It utilizes discrete-time neurodynamics and consists of
two main neural modules: neural preprocessing and modular neural
control. The neural preprocessing network acts as a sensory fusion
unit. It filters sensory noise and shapes sensory data to drive the
corresponding reactive behavior. On the other hand, modular neural
control based on a central pattern generator is applied for locomotion
of walking machines. It coordinates leg movements and can generate
omnidirectional walking. As a result, through a sensorimotor loop this
reactive neural controller enables the machines to explore a dynamic
environment by avoiding obstacles, turn toward a light source, and
then stop near to it.
Abstract: We proposed the use of a Toda-Rayleigh ring as a
central pattern generator (CPG) for controlling hexapodal robots. We
show that the ring composed of six Toda-Rayleigh units coupled to
the limb actuators reproduces the most common hexapodal gaits. We
provide an electrical circuit implementation of the CPG and test our
theoretical results obtaining fixed gaits. Then we propose a method
of incorporation of the actuator (motor) dynamics in the CPG. With
this approach we close the loop CPG – environment – CPG, thus
obtaining a decentralized model for the leg control that does not
require higher level intervention to the CPG during locomotion in
a nonhomogeneous environments. The gaits generated by the novel
CPG are not fixed, but adapt to the current robot bahvior.
Abstract: In this paper, the construction of a detailed spine
model is presented using the LifeMOD Biomechanics Modeler. The
detailed spine model is obtained by refining spine segments in
cervical, thoracic and lumbar regions into individual vertebra
segments, using bushing elements representing the intervertebral
discs, and building various ligamentous soft tissues between
vertebrae. In the sagittal plane of the spine, constant force will be
applied from the posterior to anterior during simulation to determine
dynamic characteristics of the spine. The force magnitude is
gradually increased in subsequent simulations. Based on these
recorded dynamic properties, graphs of displacement-force
relationships will be established in terms of polynomial functions by
using the least-squares method and imported into a haptic integrated
graphic environment. A thoracolumbar spine model with complex
geometry of vertebrae, which is digitized from a resin spine
prototype, will be utilized in this environment. By using the haptic
technique, surgeons can touch as well as apply forces to the spine
model through haptic devices to observe the locomotion of the spine
which is computed from the displacement-force relationship graphs.
This current study provides a preliminary picture of our ongoing
work towards building and simulating bio-fidelity scoliotic spine
models in a haptic integrated graphic environment whose dynamic
properties are obtained from LifeMOD. These models can be helpful
for surgeons to examine kinematic behaviors of scoliotic spines and
to propose possible surgical plans before spine correction operations.
Abstract: Biological reactions of individuals of a testing animal
to toxic substance are unique and can be used as an indication of the
existing of toxic substance. However, to distinguish such phenomenon
need a very complicate system and even more complicate to analyze
data in 3 dimensional. In this paper, a system to evaluate in vitro
biological activities to acute toxicity of stochastic self-affine
non-stationary signal of 3D goldfish swimming by using fractal
analysis is introduced. Regular digital camcorders are utilized by
proposed algorithm 3DCCPC to effectively capture and construct 3D
movements of the fish. A Critical Exponent Method (CEM) has been
adopted as a fractal estimator. The hypothesis was that the swimming
of goldfish to acute toxic would show the fractal property which
related to the toxic concentration. The experimental results supported
the hypothesis by showing that the swimming of goldfish under the
different toxic concentration has fractal properties. It also shows that
the fractal dimension of the swimming related to the pH value of FD Ôëê
0.26pH + 0.05. With the proposed system, the fish is allowed to swim
freely in all direction to react to the toxic. In addition, the trajectories
are precisely evaluated by fractal analysis with critical exponent
method and hence the results exhibit with much higher degree of
confidence.
Abstract: The autonomous mobile robot was designed and implemented which was capable of navigating in the industrial environments and did a job of picking objects from variable height and delivering it to another location following a predefined trajectory. In developing country like Bangladesh industrial robotics is not very prevalent yet, due to the high installation cost. The objective of this project was to develop an autonomous mobile robot for industrial application using the available resources in the local market at lower manufacturing cost. The mechanical system of the robot was comprised of locomotion, gripping and elevation system. Grippers were designed to grip objects of a predefined shape. Cartesian elevation system was designed for vertical movement of the gripper. PIC18F452 microcontroller was the brain of the control system. The prototype autonomous robot was fabricated for relatively lower load than the industry and the performance was tested in a virtual industrial environment created within the laboratory to realize the effectiveness.
Abstract: Stair climbing is one of critical issues for field robots to
widen applicable areas. This paper presents optimal design on
kinematic parameters of a new robotic platform for stair climbing. The
robotic platform climbs various stairs by body flip locomotion with
caterpillar type main platform. Kinematic parameters such as platform
length, platform height, and caterpillar rotation speed are optimized to
maximize stair climbing stability. Three types of stairs are used to
simulate typical user conditions. The optimal design process is
conducted based on Taguchi methodology, and resulting parameters
with optimized objective function are presented. In near future, a
prototype is assembled for real environment testing.
Abstract: Hydrodesulfurization (HDS) of dibenzothiophene
(DBT) in a high pressure batch reactor was done at 320 °C on
CoMoS/Al2O3-B2O3 (4, 10, and 16 wt. % of Boria) using nhexadecane
as solvent, dimethyldisulfide (DMDS) in tetradecane as
sulfur agent, and stirring at 1000 rpm. The effects of boria were
investigated by using X-ray diffraction (XRD), Temperature
programmed desorption (TPD) of ammonia, and Brunauer-Emmet-
Teller (BET) experiments. The results showed that the catalyst
prepared with low boria content (4 wt. %) had HDS activity (in
pseudo first order kinetic constant basis) value ~1.45 times higher to
that of CoMoS/Al2O3 catalyst.
Abstract: This paper presents design features of a rescue robot, named CEO Mission II. Its body is designed to be the track wheel type with double front flippers for climbing over the collapse and the rough terrain. With 125 cm. long, 5-joint mechanical arm installed on the robot body, it is deployed not only for surveillance from the top view but also easier and faster access to the victims to get their vital signs. Two cameras and sensors for searching vital signs are set up at the tip of the multi-joint mechanical arm. The third camera is at the back of the robot for driving control. Hardware and software of the system, which controls and monitors the rescue robot, are explained. The control system is used for controlling the robot locomotion, the 5-joint mechanical arm, and for turning on/off devices. The monitoring system gathers all information from 7 distance sensors, IR temperature sensors, 3 CCD cameras, voice sensor, robot wheels encoders, yawn/pitch/roll angle sensors, laser range finder and 8 spare A/D inputs. All sensors and controlling data are communicated with a remote control station via IEEE 802.11b Wi-Fi. The audio and video data are compressed and sent via another IEEE 802.11g Wi-Fi transmitter for getting real-time response. At remote control station site, the robot locomotion and the mechanical arm are controlled by joystick. Moreover, the user-friendly GUI control program is developed based on the clicking and dragging method to easily control the movement of the arm. Robot traveling map is plotted from computing the information of wheel encoders and the yawn/pitch data. 2D Obstacle map is plotted from data of the laser range finder. The concept and design of this robot can be adapted to suit many other applications. As the Best Technique awardee from Thailand Rescue Robot Championship 2006, all testing results are satisfied.
Abstract: Ethanol has been known for a long time, being
perhaps the oldest product obtained through traditional biotechnology
fermentation. Agriculture waste as substrate in fermentation is vastly
discussed as alternative to replace edible food and utilization of
organic material. Pineapple peel, highly potential source as substrate
is a by-product of the pineapple processing industry. Bio-ethanol
from pineapple (Ananas comosus) peel extract was carried out by
controlling fermentation without any treatment. Saccharomyces
ellipsoides was used as inoculum in this fermentation process as it is
naturally found at the pineapple skin. In this study, the capability of
Response Surface Methodology (RSM) for optimization of ethanol
production from pineapple peel extract using Saccharomyces
ellipsoideus in batch fermentation process was investigated. Effect of
five test variables in a defined range of inoculum concentration 6-
14% (v/v), pH (4.0-6.0), sugar concentration (14-22°Brix),
temperature (24-32°C) and time of incubation (30-54 hrs) on the
ethanol production were evaluated. Data obtained from experiment
were analyzed with RSM of MINITAB Software (Version 15)
whereby optimum ethanol concentration of 8.637% (v/v) was
determined. The optimum condition of 14% (v/v) inoculum
concentration, pH 6, 22°Brix, 26°C and 30hours of incubation. The
significant regression equation or model at the 5% level with
correlation value of 99.96% was also obtained.
Abstract: The introduction of haptic elements in a graphic user interfaces are becoming more widespread. Since haptics are being introduced rapidly into computational tools, investigating how these models affect Human-Computer Interaction would help define how to integrate and model new modes of interaction. The interest of this paper is to discuss and investigate the issues surrounding Haptic and Graphic User Interface designs (GUI) as separate systems, as well as understand how these work in tandem. The development of these systems is explored from a psychological perspective, based on how usability is addressed through learning and affordances, defined by J.J. Gibson. Haptic design can be a powerful tool, aiding in intuitive learning. The problems discussed within the text is how can haptic interfaces be integrated within a GUI without the sense of frivolity. Juxtaposing haptics and Graphic user interfaces has issues of motivation; GUI tends to have a performatory process, while Haptic Interfaces use affordances to learn tool use. In a deeper view, it is noted that two modes of perception, foveal and ambient, dictate perception. These two modes were once thought to work in tandem, however it has been discovered that these processes work independently from each other. Foveal modes interpret orientation is space which provide for posture, locomotion, and motor skills with variations of the sensory information, which instructs perceptions of object-task performance. It is contended, here, that object-task performance is a key element in the use of Haptic Interfaces because exploratory learning uses affordances in order to use an object, without meditating an experience cognitively. It is a direct experience that, through iteration, can lead to skill-sets. It is also indicated that object-task performance will not work as efficiently without the use of exploratory or kinesthetic learning practices. Therefore, object-task performance is not as congruently explored in GUI than it is practiced in Haptic interfaces.
Abstract: In this investigation, types of commercial and special
polyacrylonitrile (PAN) fibers contain sodium 2-methyl-2-
acrylamidopropane sulfonate (SAMPS) and itaconic acid (IA)
comonomers were studied by fourier transform infrared (FT-IR)
spectroscopy. The study of FT-IR spectra of PAN fibers samples
with different comonomers shows that during stabilization of PAN
fibers, the peaks related to C≡N bonds and CH2 are reduced sharply.
These reductions are related to cyclization of nitrile groups and
stabilization procedure. This reduction in PAN fibers contain IA
comonomer is very intense in comparison with PAN fibers contain
SAMPS comonomer. This fact indicates the cycling and stabilization
for sample contain IA comonomer have been conducted more
completely. Therefore the carbon fibers produced from this material
have higher tensile strength due to suitable stabilization.
Abstract: In this paper we propose a novel approach for
searching eCommerce products using a mobile phone, illustrated by a
prototype eCoMobile. This approach aims to globalize the mobile
search by integrating the concept of user multilinguism into it. To
show that, we particularly deal with English and Arabic languages.
Indeed the mobile user can formulate his query on a commercial
product in either language (English/Arabic). The description of his
information need on commercial products relies on the ontology that
represents the conceptualization of the product catalogue knowledge
domain defined in both English and Arabic languages. A query
expressed on a mobile device client defines the concept that
corresponds to the name of the product followed by a set of pairs
(property, value) specifying the characteristics of the product. Once a
query is submitted it is then communicated to the server side which
analyses it and in its turn performs an http request to an eCommerce
application server (like Amazon). This latter responds by returning
an XML file representing a set of elements where each element
defines an item of the searched product with its specific
characteristics. The XML file is analyzed on the server side and then
items are displayed on the mobile device client along with its
relevant characteristics in the chosen language.