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: This paper presented a new approach for centralized
monitoring and self-protected against fiber fault in fiber-to-the-home
(FTTH) access network by using Smart Access Network Testing,
Analyzing and Database (SANTAD). SANTAD will be installed
with optical line terminal (OLT) at central office (CO) for in-service
transmission surveillance and fiber fault localization within FTTH
with point-to-multipoint (P2MP) configuration downwardly from CO
towards customer residential locations based on the graphical user
interface (GUI) processing capabilities of MATLAB software.
SANTAD is able to detect any fiber fault as well as identify the
failure location in the network system. SANTAD enable the status of
each optical network unit (ONU) connected line is displayed onto
one screen with capability to configure the attenuation and detect the
failure simultaneously. The analysis results and information will be
delivered to the field engineer for promptly actions, meanwhile the
failure line will be diverted to protection line to ensure the traffic
flow continuously. This approach has a bright prospect to improve
the survivability and reliability as well as increase the efficiency and
monitoring capabilities in FTTH.
Abstract: A kinetic model for propane dehydrogenation in an
industrial moving bed reactor is developed based on the reported
reaction scheme. The kinetic parameters and activity constant are
fine tuned with several sets of balanced plant data. Plant data at
different operating conditions is applied to validate the model and
the results show a good agreement between the model
predictions and plant observations in terms of the amount of main
product, propylene produced. The simulation analysis of key
variables such as inlet temperature of each reactor (Tinrx) and
hydrogen to total hydrocarbon ratio (H2/THC) affecting process
performance is performed to identify the operating condition to
maximize the production of propylene. Within the range of operating
conditions applied in the present studies, the operating condition to
maximize the propylene production at the same weighted average
inlet temperature (WAIT) is ΔTinrx1= -2, ΔTinrx2= +1, ΔTinrx3= +1 ,
ΔTinrx4= +2 and ΔH2/THC= -0.02. Under this condition, the surplus
propylene produced is 7.07 tons/day as compared with base case.
Abstract: This paper describes a one-dimensional numerical model for natural gas production from the dissociation of methane hydrate in hydrate-capped gas reservoir under depressurization and thermal stimulation. Some of the hydrate reservoirs discovered are overlying a free-gas layer, known as hydrate-capped gas reservoirs. These reservoirs are thought to be easiest and probably the first type of hydrate reservoirs to be produced. The mathematical equations that can be described this type of reservoir include mass balance, heat balance and kinetics of hydrate decomposition. These non-linear partial differential equations are solved using finite-difference fully implicit scheme. In the model, the effect of convection and conduction heat transfer, variation change of formation porosity, the effect of using different equations of state such as PR and ER and steam or hot water injection are considered. In addition distributions of pressure, temperature, saturation of gas, hydrate and water in the reservoir are evaluated. It is shown that the gas production rate is a sensitive function of well pressure.
Abstract: The strong international competition as the factor of rising economic development efficiency should not turn into destructive force for models of social orientation. What result Europe received from the accelerated integration without a long transition period of the accepted countries. Correlative relationship between the research and development expenditure and labor productivity, inflation and the rate economy's growth of the USA and the euro zone, employment and gross value added between Old and New Europe is analyzed in this article. The article estimates the differences in economic growth of Old and New Europe. Correlation rate between cycles of the euro area and the countries of Central and the Eastern Europe very much differs, though some of these countries have high correlation as members of the Economic and Monetary Union. Besides, the majority of the countries of Central and the Eastern Europe does not correspond to criteria of an optimum currency area.
Abstract: This paper proposes a robot able to climb Columns.
This robot is not dependent on the diameter and material of the
columns. Some climbing robots have been designed up to now but
Koala robot was designed and fabricated for climbing columns
exclusively. Simple kinematics of climbing in the nature inspired us
to design this robot. We used two linear mechanisms to grip the
column. The gripper consists of a DC motor and a power screw
mechanism with a linear bushing as a guide. This mechanism
provides enough force to grip the column. In addition we needed an
actuator for climbing the column; hence, two pneumatic jacks were
used. All the mechanical parts were designed according to the
exerted forces and operational condition. The prototype can be
simply installed and controlled on the column by an inexperienced
operator. This robot is intended for inspection and surveillance of
pipes in oil industries and power poles in electric industries.
Abstract: The development of renewable energies - particularly energy from wind, water, solar power and biomass - is a central aim of the European Commission's energy policy. There are several reasons for this choice: renewable energies are sustainable, nonpolluting, widely available and clean. Increasing the share of renewable energy in the energy balance enhances sustainability. It also helps to improve the security of energy supply by reducing the Community's growing dependence on imported energy sources.In this paper it was studied the possibility to realize three photovoltaic systems in the Italian Natural Park “Gola della Rossa e di Frasassi". The first photovoltaic system is a grid-connected system for Services and Documentation Center of Castelletta with a nominal power of about 6 kWp. The second photovoltaic system is a grid-connected integrated system on the ticket office-s roof with a nominal power of about 4 kWp. The third project is set up by five grid-connected systems integrated on the roofs of the bungalows in Natural Park-s tourist camping with a nominal power of about 10 kWp. The electricity which is generated by all these plants is purchased according to the Italian program called “Conto Energia". Economical analysis and the amount of the avoided CO2 emissions are elaborated for these photovoltaic systems.
Abstract: Wheeled Mobile Robots (WMRs) are built with their
Wheels- drive machine, Motors. Depend on their desire design of
WMR, Technicians made used of DC Motors for motion control. In
this paper, the author would like to analyze how to choose DC motor
to be balance with their applications of especially for WMR.
Specification of DC Motor that can be used with desire WMR is to
be determined by using MATLAB Simulink model. Therefore, this
paper is mainly focus on software application of MATLAB and
Control Technology. As the driving system of DC motor, a
Peripheral Interface Controller (PIC) based control system is
designed including the assembly software technology and H-bridge
control circuit. This Driving system is used to drive two DC gear
motors which are used to control the motion of WMR. In this
analyzing process, the author mainly focus the drive system on
driving two DC gear motors that will control with Differential Drive
technique to the Wheeled Mobile Robot . For the design analysis of
Motor Driving System, PIC16F84A is used and five inputs of sensors
detected data are tested with five ON/OFF switches. The outputs of
PIC are the commands to drive two DC gear motors, inputs of Hbridge
circuit .In this paper, Control techniques of PIC
microcontroller and H-bridge circuit, Mechanism assignments of
WMR are combined and analyzed by mainly focusing with the
“Modeling and Simulink of DC Motor using MATLAB".
Abstract: In recent years, the research in wireless sensor
network has increased steadily, and many studies were focusing on
reducing energy consumption of sensor nodes to extend their lifetimes.
In this paper, the issue of energy consumption is investigated and two
adaptive mechanisms are proposed to extend the network lifetime.
This study uses high-energy-first scheme to determine cluster heads
for data transmission. Thus, energy consumption in each cluster is
balanced and network lifetime can be extended. In addition, this study
uses cluster merging and dynamic routing mechanisms to further
reduce energy consumption during data transmission. The simulation
results show that the proposed method can effectively extend the
lifetime of wireless sensor network, and it is suitable for different base
station locations.
Abstract: There are very complex communication systems, as
the multifunction radar, MFAR (Multi-Function Array Radar), where
functions are integrated all together, and simultaneously are
performed the classic functions of tracking and surveillance, as all
the functions related to the communication, countermeasures, and
calibration. All these functions are divided into the tasks to execute.
The task scheduler is a key element of the radar, since it does the
planning and distribution of energy and time resources to be shared
and used by all tasks. This paper presents schedulers based on the use
of multiple queue. Several schedulers have been designed and
studied, and it has been made a comparative analysis of different
performed schedulers. The tests and experiments have been done by
means of system software simulation. Finally a suitable set of radar
characteristics has been selected to evaluate the behavior of the task
scheduler working.
Abstract: As current business environment is demanding a
constant adaptation of companies, the planning and strategic
management should be an ongoing and natural process in all kind of
organizations. The use of management and monitoring strategic
performance tools such as the Balanced Scorecard (BSC) have been
popular; even to Small and Medium-sized Enterprises. This paper
aims to investigate whether the BSC is being used in monitoring the
performance of small businesses, particularly in small fuel retailers
companies, which are competing in co-branding; and if not, it aims to
identify its strategic orientation in order to recommend a possible
strategy map for those managers that are willing to adopt this model
as an alternative to traditional ones for organizational performance
evaluation, which often focus only on evaluation of the
organizational financial performance.
Abstract: We introduce the notion of strongly ω -Gorenstein modules, where ω is a faithfully balanced self-orthogonal module. This gives a common generalization of both Gorenstein projective (injective) modules and ω-Gorenstein modules. We investigate some characterizations of strongly ω -Gorenstein modules. Consequently, some properties under change of rings are obtained.
Abstract: Baltic competitiveness is quite controversial. In a
situation with the rapid structural changes, economy develops in
balance very rarely - in different fields will always be more rapid
changes in another more stagnation.
Analyzing different economic indices developed by international
organizations the situation in three Baltic countries are described
from a different competitiveness positions highlighting strengths and
weaknesses of each country.
Exploring the openness of the economy, it is possible to observe
certain risks included in the reports describing situation of
competitiveness where government policies competing in the tax
system, the rates of labour market policies, investment environment,
etc. This is a very important factor resulting in competitive
advantage.
Baltic countries are still at a weak position from a technological
perspective, and need to borrow the knowledge and technology from
more developed countries.
Abstract: This paper discusses the design characteristics management accounting systems should have to be useful for strategic planning and control and provides brief introductions to strategic variance analysis, profit-linked performance measurement models and balanced scorecard. It shows two multi-period, multiproduct models are specified, can be related to Porter's strategy framework and cost and revenue drivers, and can be used to support strategic planning, control and cost management.
Abstract: The paper considers the effect of feed plate location
on the interactions in a seven plate binary distillation column. The
mathematical model of the distillation column is deduced based on
the equations of mass and energy balances for each stage, detailed
model for both reboiler and condenser, and heat transfer equations.
The Dynamic Relative Magnitude Criterion, DRMC is used to assess
the interactions in different feed plate locations for a seven plate
(Benzene-Toluene) binary distillation column ( the feed plate is
originally at stage 4). The results show that whenever we go far from
the optimum feed plate position, the level of interaction augments.
Abstract: Clean air in subway station is important to passengers. The Platform Screen Doors (PSDs) can improve indoor air quality in the subway station; however the air quality in the subway tunnel is degraded. The subway tunnel has high CO2 concentration and indoor particulate matter (PM) value. The Indoor Air Quality (IAQ) level in subway environment degrades by increasing the frequency of the train operation and the number of the train. The ventilation systems of the subway tunnel need improvements to have better air-quality. Numerical analyses might be effective tools to analyze the performance of subway twin-track tunnel ventilation systems. An existing subway twin-track tunnel in the metropolitan Seoul subway system is chosen for the numerical simulations. The ANSYS CFX software is used for unsteady computations of the airflow inside the twin-track tunnel when the train moves. The airflow inside the tunnel is simulated when one train runs and two trains run at the same time in the tunnel. The piston-effect inside the tunnel is analyzed when all shafts function as the natural ventilation shaft. The supplied air through the shafts is mixed with the pollutant air in the tunnel. The pollutant air is exhausted by the mechanical ventilation shafts. The supplied and discharged airs are balanced when only one train runs in the twin-track tunnel. The pollutant air in the tunnel is high when two trains run simultaneously in opposite direction and all shafts functioned as the natural shaft cases when there are no electrical power supplies in the shafts. The remained pollutant air inside the tunnel enters into the station platform when the doors are opened.
Abstract: A human verification system is presented in this
paper. The system consists of several steps: background subtraction,
thresholding, line connection, region growing, morphlogy, star
skelatonization, feature extraction, feature matching, and decision
making. The proposed system combines an advantage of star
skeletonization and simple statistic features. A correlation matching
and probability voting have been used for verification, followed by a
logical operation in a decision making stage. The proposed system
uses small number of features and the system reliability is
convincing.
Abstract: Gas hydrates can agglomerate and block multiphase oil and gas pipelines when water is present at hydrate forming conditions. Using "Cold Flow Technology", the aim is to condition gas hydrates so that they can be transported as a slurry mixture without a risk of agglomeration. During the pipeline shut down however, hydrate particles may settle in bends and build hydrate plugs. An experimental setup has been designed and constructed to study the flow of such plugs at start up operations. Experiments have been performed using model fluid and model hydrate particles. The propagations of initial plugs in a bend were recorded with impedance probes along the pipe. The experimental results show a dispersion of the plug front. A peak in pressure drop was also recorded when the plugs were passing the bend. The evolutions of the plugs have been simulated by numerical integration of the incompressible mass balance equations, with an imposed mixture velocity. The slip between particles and carrier fluid has been calculated using a drag relation together with a particle-fluid force balance.
Abstract: In today-s competitive environment, the security concerns have grown tremendously. In the modern world, possession is known to be 9/10-ths of the law. Hence, it is imperative for one to be able to safeguard one-s property from worldly harms such as thefts, destruction of property, people with malicious intent etc. Due to the advent of technology in the modern world, the methodologies used by thieves and robbers for stealing have been improving exponentially. Therefore, it is necessary for the surveillance techniques to also improve with the changing world. With the improvement in mass media and various forms of communication, it is now possible to monitor and control the environment to the advantage of the owners of the property. The latest technologies used in the fight against thefts and destruction are the video surveillance and monitoring. By using the technologies, it is possible to monitor and capture every inch and second of the area in interest. However, so far the technologies used are passive in nature, i.e., the monitoring systems only help in detecting the crime but do not actively participate in stopping or curbing the crime while it takes place. Therefore, we have developed a methodology to detect the motion in a video stream environment and this is an idea to ensure that the monitoring systems not only actively participate in stopping the crime, but do so while the crime is taking place. Hence, a system is used to detect any motion in a live streaming video and once motion has been detected in the live stream, the software will activate a warning system and capture the live streaming video.
Abstract: In this paper, a mathematical model is proposed to
estimate the dropping probabilities of cellular wireless networks by
queuing handoff instead of reserving guard channels. Usually, prioritized
handling of handoff calls is done with the help of guard channel
reservation. To evaluate the proposed model, gamma inter-arrival and
general service time distributions have been considered. Prevention of
some of the attempted calls from reaching to the switching center due
to electromagnetic propagation failure or whimsical user behaviour
(missed call, prepaid balance etc.), make the inter-arrival time of
the input traffic to follow gamma distribution. The performance is
evaluated and compared with that of guard channel scheme.