Abstract: The choice of finite element to use in order to predict
nonlinear static or dynamic response of complex structures becomes
an important factor. Then, the main goal of this research work is to
focus a study on the effect of the in-plane rotational degrees of
freedom in linear and geometrically non linear static and dynamic
analysis of thin shell structures by flat shell finite elements. In this
purpose: First, simple triangular and quadrilateral flat shell finite
elements are implemented in an incremental formulation based on the
updated lagrangian corotational description for geometrically
nonlinear analysis. The triangular element is a combination of DKT
and CST elements, while the quadrilateral is a combination of DKQ
and the bilinear quadrilateral membrane element. In both elements,
the sixth degree of freedom is handled via introducing fictitious
stiffness. Secondly, in the same code, the sixth degrees of freedom in
these elements is handled differently where the in-plane rotational
d.o.f is considered as an effective d.o.f in the in-plane filed
interpolation. Our goal is to compare resulting shell elements. Third,
the analysis is enlarged to dynamic linear analysis by direct
integration using Newmark-s implicit method. Finally, the linear
dynamic analysis is extended to geometrically nonlinear dynamic
analysis where Newmark-s method is used to integrate equations of
motion and the Newton-Raphson method is employed for iterating
within each time step increment until equilibrium is achieved. The
obtained results demonstrate the effectiveness and robustness of the
interpolation of the in-plane rotational d.o.f. and present deficiencies
of using fictitious stiffness in dynamic linear and nonlinear analysis.
Abstract: In this paper, a Smart Home Service Robot, McBot II,
which performs mess-cleanup function etc. in house, is designed much
more optimally than other service robots. It is newly developed in
much more practical system than McBot I which we had developed
two years ago. One characteristic attribute of mobile platforms
equipped with a set of dependent wheels is their omni- directionality
and the ability to realize complex translational and rotational
trajectories for agile navigation in door. An accurate coordination of
steering angle and spinning rate of each wheel is necessary for a
consistent motion. This paper develops trajectory controller of
3-wheels omni-directional mobile robot using fuzzy azimuth estimator.
A specialized anthropomorphic robot manipulator which can be
attached to the housemaid robot McBot II, is developed in this paper.
This built-in type manipulator consists of both arms with 3 DOF
(Degree of Freedom) each and both hands with 3 DOF each. The
robotic arm is optimally designed to satisfy both the minimum
mechanical size and the maximum workspace. Minimum mass and
length are required for the built-in cooperated-arms system. But that
makes the workspace so small. This paper proposes optimal design
method to overcome the problem by using neck joint to move the arms
horizontally forward/backward and waist joint to move them
vertically up/down. The robotic hand, which has two fingers and a
thumb, is also optimally designed in task-based concept. Finally, the
good performance of the developed McBot II is confirmed through
live tests of the mess-cleanup task.
Abstract: Daily production of information and importance of the sequence of produced data in forecasting future performance of market causes analysis of data behavior to become a problem of analyzing time series. But time series that are very complicated, usually are random and as a result their changes considered being unpredictable. While these series might be products of a deterministic dynamical and nonlinear process (chaotic) and as a result be predictable. Point of Chaotic theory view, complicated systems have only chaotically face and as a result they seem to be unregulated and random, but it is possible that they abide by a specified math formula. In this article, with regard to test of strange attractor and biggest Lyapunov exponent probability of chaos on several foreign exchange rates vs. IRR (Iranian Rial) has been investigated. Results show that data in this market have complex chaotic behavior with big degree of freedom.
Abstract: Larval survey was carried out in 6 localities in the
urban areas (Putrajaya) and suburban areas (Kuala Selangor) from
January until December 2010. A total of 520 representative
households in 6 localities were selected. Breeding habitats were
sampled outdoors in the surroundings of housing areas. The study
indicated that the most predominant species found in both areas was
Aedes albopictus with the gardening utensil as a preferred breeding
microhabitat for Putrajaya, in contrast to the artificial containers for
Kuala Selangor. From a total of 1083 mosquito larvae species, 984
were Aedes albopictus larvae, 67 positive larvae of Aedes aegypti
and 32 of Culex larvae. Aedes Index and Container Index were
elevated in Putrajaya with 13% and 11% respectively which is higher
than the standard given by the Ministry of Health, Malaysia. This
results implicating dengue-sensitive skewed to the urban areas.
Breteau Index result also above the standard in both study locations.
Abstract: The selection of parents and breeding strategies for
the successful maize hybrid production will be facilitated by
heterotic groupings of parental lines and determination of combining
abilities of them. Fourteen maize inbred lines, used in maize breeding
programs in Iran, were crossed in a diallel mating design. The 91 F1
hybrids and the 14 parental lines were studied during two years at
four locations of Iran for investigation of combining ability of
gentypes for grain yield and to determine heterotic patterns among
germplasm sources, using both, the Griffing-s method and the biplot
approach for diallel analysis. The graphical representation offered by
biplot analysis allowed a rapid and effective overview of general
combining ability (GCA) and specific combining ability (SCA)
effects of the inbred lines, their performance in crosses, as well as
grouping patterns of similar genotypes. GCA and SCA effects were
significant for grain yield (GY). Based on significant positive GCA
effects, the lines derived from LSC could be used as parent in crosses
to increase GY. The maximum best- parent heterosis values and
highest SCA effects resulted from crosses B73 × MO17 and A679 ×
MO17 for GY. The best heterotic patterns were LSC × RYD, which
would be potentially useful in maize breeding programs to obtain
high-yielding hybrids in the same climate of Iran.
Abstract: American public schools should be the place that reflects America-s diverse society. The recent Supreme Court decision to discontinue the use of race as a factor in school admission policies has caused major setbacks in America-s effort to repair its racial divide, to improve public schools, and to provide opportunities for all people, regardless of race or creed. However, educators should not allow such legal decision to hinder their ability to teach children tolerance of others in schools and classrooms in America.
Abstract: This paper presents kinematic and dynamic analysis of a novel 8-DOF hybrid robot manipulator. The hybrid robot manipulator under consideration consists of a parallel robot which
is followed by a serial mechanism. The parallel mechanism has three translational DOF, and the serial mechanism has five DOF so that the overall degree of freedom is eight. The introduced
manipulator has a wide workspace and a high capability to reduce
the actuating energy. The inverse and forward kinematic solutions are described in closed form. The theoretical results are verified by
a numerical example. Inverse dynamic analysis of the robot is presented by utilizing the Iterative Newton-Euler and Lagrange dynamic formulation methods. Finally, for performing a multi-step
arc welding process, results have indicated that the introduced manipulator is highly capable of reducing the actuating energy.
Abstract: When reconstructing a scenario, it is necessary to
know the structure of the elements present on the scene to have an
interpretation. In this work we link 3D scenes reconstruction to
evolutionary algorithms through the vision stereo theory. We
consider vision stereo as a method that provides the reconstruction of
a scene using only a couple of images of the scene and performing
some computation. Through several images of a scene, captured from
different positions, vision stereo can give us an idea about the threedimensional
characteristics of the world. Vision stereo usually
requires of two cameras, making an analogy to the mammalian vision
system. In this work we employ only a camera, which is translated
along a path, capturing images every certain distance. As we can not
perform all computations required for an exhaustive reconstruction,
we employ an evolutionary algorithm to partially reconstruct the
scene in real time. The algorithm employed is the fly algorithm,
which employ “flies" to reconstruct the principal characteristics of
the world following certain evolutionary rules.
Abstract: This paper reviews the objectives, methods and results of previous studies on biodrying of solid waste in several countries. Biodrying of solid waste is a novel technology in developing countries such as in Malaysia where high moisture content in organic waste makes the segregation process for recycling purposes complicated and diminishes the calorific value for the use of fuel source. In addition, the high moisture content also encourages the breeding of vectors and disease-bearing animals. From the laboratory results, the average moisture content of organic waste, paper, plastics and metals are 58.17%, 37.93%, 29.79% and 1.03% respectively for UKM campus. Biodrying of solid waste is a simple method of waste treatment as well as a cost-efficient technology to dry the solid waste. The process depends on temperature monitoring and air flow control along with the natural biodegradable process of organic waste. This review shows that the biodrying of solid waste method has high potential in treatment and recycling of solid waste, be useful for biodrying study and implementation in Malaysia.
Abstract: In this paper, we consider the problem of logic simplification for a special class of logic functions, namely complementary Boolean functions (CBF), targeting low power implementation using static CMOS logic style. The functions are uniquely characterized by the presence of terms, where for a canonical binary 2-tuple, D(mj) ∪ D(mk) = { } and therefore, we have | D(mj) ∪ D(mk) | = 0 [19]. Similarly, D(Mj) ∪ D(Mk) = { } and hence | D(Mj) ∪ D(Mk) | = 0. Here, 'mk' and 'Mk' represent a minterm and maxterm respectively. We compare the circuits minimized with our proposed method with those corresponding to factored Reed-Muller (f-RM) form, factored Pseudo Kronecker Reed-Muller (f-PKRM) form, and factored Generalized Reed-Muller (f-GRM) form. We have opted for algebraic factorization of the Reed-Muller (RM) form and its different variants, using the factorization rules of [1], as it is simple and requires much less CPU execution time compared to Boolean factorization operations. This technique has enabled us to greatly reduce the literal count as well as the gate count needed for such RM realizations, which are generally prone to consuming more cells and subsequently more power consumption. However, this leads to a drawback in terms of the design-for-test attribute associated with the various RM forms. Though we still preserve the definition of those forms viz. realizing such functionality with only select types of logic gates (AND gate and XOR gate), the structural integrity of the logic levels is not preserved. This would consequently alter the testability properties of such circuits i.e. it may increase/decrease/maintain the same number of test input vectors needed for their exhaustive testability, subsequently affecting their generalized test vector computation. We do not consider the issue of design-for-testability here, but, instead focus on the power consumption of the final logic implementation, after realization with a conventional CMOS process technology (0.35 micron TSMC process). The quality of the resulting circuits evaluated on the basis of an established cost metric viz., power consumption, demonstrate average savings by 26.79% for the samples considered in this work, besides reduction in number of gates and input literals by 39.66% and 12.98% respectively, in comparison with other factored RM forms.
Abstract: Inverse kinematics analysis plays an important role in developing a robot manipulator. But it is not too easy to derive the inverse kinematic equation of a robot manipulator especially robot manipulator which has numerous degree of freedom. This paper describes an application of Artificial Neural Network for modeling the inverse kinematics equation of a robot manipulator. In this case, the robot has three degree of freedoms and the robot was implemented for drilling a printed circuit board. The artificial neural network architecture used for modeling is a multilayer perceptron networks with steepest descent backpropagation training algorithm. The designed artificial neural network has 2 inputs, 2 outputs and varies in number of hidden layer. Experiments were done in variation of number of hidden layer and learning rate. Experimental results show that the best architecture of artificial neural network used for modeling inverse kinematics of is multilayer perceptron with 1 hidden layer and 38 neurons per hidden layer. This network resulted a RMSE value of 0.01474.
Abstract: In this study, active tendons with Proportional Integral
Derivation type controllers were applied to a SDOF and a MDOF
building model. Physical models of buildings were constituted with
virtual springs, dampers and rigid masses. After that, equations of
motion of all degrees of freedoms were obtained. Matlab Simulink
was utilized to obtain the block diagrams for these equations of
motion. Parameters for controller actions were found by using a trial
method. After earthquake acceleration data were applied to the
systems, building characteristics such as displacements, velocities,
accelerations and transfer functions were analyzed for all degrees of
freedoms. Comparisons on displacement vs. time, velocity vs. time,
acceleration vs. time and transfer function (Db) vs. frequency (Hz)
were made for uncontrolled and controlled buildings. The results
show that the method seems feasible.
Abstract: The number of framework conceived for e-learning
constantly increase, unfortunately the creators of learning materials
and educational institutions engaged in e-formation adopt a
“proprietor" approach, where the developed products (courses,
activities, exercises, etc.) can be exploited only in the framework
where they were conceived, their uses in the other learning
environments requires a greedy adaptation in terms of time and
effort. Each one proposes courses whose organization, contents,
modes of interaction and presentations are unique for all learners,
unfortunately the latter are heterogeneous and are not interested by
the same information, but only by services or documents adapted to
their needs. Currently the new tendency for the framework
conceived for e-learning, is the interoperability of learning materials,
several standards exist (DCMI (Dublin Core Metadata Initiative)[2],
LOM (Learning Objects Meta data)[1], SCORM (Shareable Content
Object Reference Model)[6][7][8], ARIADNE (Alliance of Remote
Instructional Authoring and Distribution Networks for Europe)[9],
CANCORE (Canadian Core Learning Resource Metadata
Application Profiles)[3]), they converge all to the idea of learning
objects. They are also interested in the adaptation of the learning
materials according to the learners- profile. This article proposes an
approach for the composition of courses adapted to the various
profiles (knowledge, preferences, objectives) of learners, based on
two ontologies (domain to teach and educational) and the learning
objects.
Abstract: This paper begins with formal defining of human rights and freedoms, and the basic document regarding the said subject is undoubtedly French Declaration of the Rights of Man and of the Citizen from 789. This paper furthermore parses legal sources relevant for the workers' rights in legal system of the Republic of Croatia, international contracts and the Labour Act, which is also a master bill regarding workers' rights The authors are also dealing with issues of Constitutional Court of the Republic of Croatia and its' position in judicial system of the Republic of Croatia, as well as with the specifics of Constitutional Complaint, and the crucial part of the paper is based on the research conducted with an aim to determine implementation of rights and liberties guaranteed by the articles 54. and 55. of the Constitution of the Republic of Croatia by means of Constitutional Complaint.
Abstract: This study investigated the number of Aedes larvae,
the key breeding sites of Aedes sp., and the relationship between
climatic factors and the incidence of DHF in Samui Islands. We
conducted our questionnaire and larval surveys from randomly
selected 105 households in Samui Islands in July-September 2006.
Pearson-s correlation coefficient was used to explore the primary
association between the DHF incidence and all climatic factors.
Multiple stepwise regression technique was then used to fit the
statistical model. The results showed that the positive indoor
containers were small jars, cement tanks, and plastic tanks. The
positive outdoor containers were small jars, cement tanks, plastic
tanks, used cans, tires, plastic bottles, discarded objects, pot saucers,
plant pots, and areca husks. All Ae. albopictus larval indices (i.e., CI,
HI, and BI) were higher than Ae. aegypti larval indices in this area.
These larval indices were higher than WHO standard. This indicated
a high risk of DHF transmission at Samui Islands. The multiple
stepwise regression model was y = –288.80 + 11.024xmean temp. The
mean temperature was positively associated with the DHF incidence
in this area.
Abstract: An alarming emergence of multidrug-resistant strains
of the tuberculosis pathogen Mycobacterium tuberculosis and
continuing high worldwide incidence of tuberculosis has invigorated
the search for novel drug targets. The enzyme glutamate racemase
(MurI) in bacteria catalyzes the stereoconversion of L-glutamate to
D-glutamate which is a component of the peptidoglycan cell wall of
the bacterium. The inhibitors targeted against MurI from several
bacterial species have been patented and are advocated as promising
antibacterial agents. However there are none available against MurI
from Mycobacterium tuberculosis, due to the lack of its threedimensional
structure. This work accomplished two major objectives.
First, the tertiary structure of MtMurI was deduced computationally
through homology modeling using the templates from bacterial
homologues. It is speculated that like in other Gram-positive bacteria,
MtMurI exists as a dimer and many of the protein interactions at the
dimer interface are also conserved. Second, potent candidate
inhibitors against MtMurI were identified through docking against
already known inhibitors in other organisms.
Abstract: In this work, the plate bending formulation of the boundary element method - BEM, based on the Reissner?s hypothesis, is extended to the analysis of plates reinforced by beams taking into account the membrane effects. The formulation is derived by assuming a zoned body where each sub-region defines a beam or a slab and all of them are represented by a chosen reference surface. Equilibrium and compatibility conditions are automatically imposed by the integral equations, which treat this composed structure as a single body. In order to reduce the number of degrees of freedom, the problem values defined on the interfaces are written in terms of their values on the beam axis. Initially are derived separated equations for the bending and stretching problems, but in the final system of equations the two problems are coupled and can not be treated separately. Finally are presented some numerical examples whose analytical results are known to show the accuracy of the proposed model.
Abstract: Asiatic Houbara ( Chlamydotis macqueenii ) is a
flagship and vulnerable species. In-situ conservation of this
threatened species demands for knowledge of its habitat selection.
The aim of this study was to determine habitat variables influencing
birds wintering and breeding selection in semi- arid central Iran.
Habitat features of the detected nest and pellet sites were compared
with paired and random plots by quantifying a number of habitat
variables. In wintering habitat use at micro scale houbara selected
sites where vegetation cover was significantly lower compard to
control sites( p< 0.001). Areas with low number of larger plant
species (p=0.03) that were not too close to a vegetation
patch(p
Abstract: Knowledge of patterns of genetic diversity enhances
the efficiency of germplasm conservation and improvement. In this
study 96 Iranian landraces of Triticum turgidum originating from
different geographical areas of Iran, along with 18 durum cultivars
from ten countries were evaluated for variation in morphological and
high molecular weight glutenin subunit (HMW-GS) composition.
The first two principal components clearly separated the Iranian
landraces from cultivars. Three alleles were present at the Glu-A1
locus and 11 alleles at Glu-B1. In both cultivars and landraces of
durum wheat, the null allele (Glu-A1c) was observed more
frequently than the Glu-A1a and Glu-A1b alleles. Two alleles,
namely Glu-B1a (subunit 7) and Glu-B1e (subunit 20) represented
the more frequent alleles at Glu-B1 locus. The results showed that
the evaluated Iranian landraces formed an interesting source of
favourable glutenin subunits that might be very desirable in breeding
activities for improving pasta-making quality.
Abstract: The paper makes part from a complex research project
on Romanian Grey Steppe, a unique breed in terms of biological and
cultural-historical importance, on the verge of extinction and which
has been included in a preservation programme of genetic resources
from Romania. The study of genetic polymorphism of protean
fractions, especially kappa-casein, and the genotype relations of
these lactoproteins with some quantitative and qualitative features of
milk yield represents a current theme and a novelty for this breed. In
the estimation of the genetic parameters we used R.E.M.L.
(Restricted Maximum Likelihood) method.
The main lactoprotein from milk, kappa - casein (K-cz),
characterized in the specialized literature as a feature having a high
degree of hereditary transmission, behaves as such in the nucleus under
study, a value also confirmed by the heritability coefficient (h2 = 0.57
%). We must mention the medium values for milk and fat quantity
(h2=0.26, 0.29 %) and the fat and protein percentage from milk
having a high hereditary influence h2 = 0.71 - 0.63 %.
Correlations between kappa-casein and the milk quantity are
negative and strong. Between kappa-casein and other qualitative
features of milk (fat content 0.58-0.67 % and protein content 0.77-
0.87%), there are positive and very strong correlations. At the same
time, between kappa-casein and β casein (β-cz), β lactoglobulin (β-
lg) respectively, correlations are positive having high values (0.37 –
0.45 %), indicating the same causes and determining factors for the
two groups of features.