Abstract: Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-like robot structure is
more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots.
However, the walking control for bipedal robots is a challenging task
due to their complex dynamics. Stable reference generation plays a very important role in control.
Linear Inverted Pendulum Model (LIPM) and the Zero Moment Point (ZMP) criterion are applied in a number of studies for stable
walking reference generation of biped walking robots. This paper follows this main approach too. We propose a natural and continuous ZMP reference trajectory for a stable and human-like walk. The ZMP reference trajectories move forward under the sole of the support foot when the robot body is supported by a single leg. Robot center of mass trajectory is obtained
from predefined ZMP reference trajectories by a Fourier series
approximation method. The Gibbs phenomenon problem common with Fourier approximations of discontinuous functions is avoided by employing continuous ZMP references. Also, these ZMP reference
trajectories possess pre-assigned single and double support phases,
which are very useful in experimental tuning work.
The ZMP based reference generation strategy is tested via threedimensional
full-dynamics simulations of a 12-degrees-of-freedom
biped robot model. Simulation results indicate that the proposed reference trajectory generation technique is successful.
Abstract: Patients with diabetes are susceptible to chronic foot
wounds which may be difficult to manage and slow to heal.
Diagnosis and treatment currently rely on the subjective judgement of
experienced professionals. An objective method of tissue assessment
is required. In this paper, a data fusion approach was taken to wound
tissue classification. The supervised Maximum Likelihood and
unsupervised Multi-Modal Expectation Maximisation algorithms
were used to classify tissues within simulated wound models by
weighting the contributions of both colour and 3D depth information.
It was found that, at low weightings, depth information could show
significant improvements in classification accuracy when compared
to classification by colour alone, particularly when using the
maximum likelihood method. However, larger weightings were
found to have an entirely negative effect on accuracy.
Abstract: The objective of current study is to investigate the
differences of winning and losing teams in terms of goal scoring and
passing sequences. Total of 31 matches from UEFA-EURO 2012
were analyzed and 5 matches were excluded from analysis due to
matches end up drawn. There are two groups of variable used in the
study which is; i. the goal scoring variable and: ii. passing sequences
variable. Data were analyzed using Wilcoxon matched pair rank test
with significant value set at p < 0.05. Current study found the timing
of goal scored was significantly higher for winning team at 1st half
(Z=-3.416, p=.001) and 2nd half (Z=-3.252, p=.001). The scoring
frequency was also found to be increase as time progressed and the
last 15 minutes of the game was the time interval the most goals
scored. The indicators that were significantly differences between
winning and losing team were the goal scored (Z=-4.578, p=.000),
the head (Z=-2.500, p=.012), the right foot (Z=-3.788,p=.000),
corner (Z=-.2.126,p=.033), open play (Z=-3.744,p=.000), inside the
penalty box (Z=-4.174, p=.000) , attackers (Z=-2.976, p=.003) and
also the midfielders (Z=-3.400, p=.001). Regarding the passing
sequences, there are significance difference between both teams in
short passing sequences (Z=-.4.141, p=.000). While for the long
passing, there were no significance difference (Z=-.1.795, p=.073).
The data gathered in present study can be used by the coaches to
construct detailed training program based on their objectives.
Abstract: This paper summaries basic principles and concepts of
intelligent controls, implemented in humanoid robotics as well as
recent algorithms being devised for advanced control of humanoid
robots. Secondly, this paper presents a new approach neuro-fuzzy
system. We have included some simulating results from our
computational intelligence technique that will be applied to our
humanoid robot. Subsequently, we determine a relationship between
joint trajectories and located forces on robot-s foot through a
proposed neuro-fuzzy technique.
Abstract: The unique structural configuration found in human foot allows easy walking. Similar movement is hard to imitate even for an ape. It is obvious that human ambulation relates to the foot structure itself. Suppose the bones are represented as vertices and the joints as edges. This leads to the development of a special graph that represents human foot. On a footprint there are point-ofcontacts which have contact with the ground. It involves specific vertices. Theoretically, for an ideal ambulation, these points provide reactions onto the ground or the static equilibrium forces. They are arranged in sequence in form of a path. The ambulating footprint follows this path. Having the human foot graph and the path crossbred, it results in a representation that describes the profile of an ideal ambulation. This profile cites the locations where the point-of-contact experience normal reaction forces. It highlights the significant of these points.
Abstract: The main focus of this paper is on the human induced
forces. Almost all existing force models for this type of load (defined
either in the time or frequency domain) are developed from the
assumption of perfect periodicity of the force and are based on force
measurements conducted on rigid (i.e. high frequency) surfaces. To
verify the different authors conclusions the vertical pressure
measurements invoked during the walking was performed, using
pressure gauges in various configurations. The obtained forces are
analyzed using Fourier transformation. This load is often decisive in
the design of footbridges. Design criteria and load models proposed
by widely used standards and other researchers were introduced and a
comparison was made.
Abstract: Carbon Capture & Storage (CCS) is one of the various
methods that can be used to reduce the carbon footprint of the
energy sector. This paper focuses on the absorption of CO2 from
flue gas using packed columns, whose efficiency is highly dependent
on the structure of the liquid films within the column. To study the
characteristics of liquid films a CFD solver, OpenFOAM is utilised
to solve two-phase, isothermal film flow using the volume-of-fluid
(VOF) method. The model was validated using existing experimental
data and the Nusselt theory. It was found that smaller plate inclination
angles, with respect to the horizontal plane, resulted in larger wetted
areas on smooth plates. However, only a slight improvement in
the wetted area was observed. Simulations were also performed
using a ridged plate and it was observed that these surface textures
significantly increase the wetted area of the plate. This was mainly
attributed to the channelling effect of the ridges, which helped to
oppose the surface tension forces trying to minimise the surface area.
Rivulet formations on the ridged plate were also flattened out and
spread across a larger proportion of the plate width.
Abstract: In this research, the main aim is to investigate the
antimicrobial effectiveness of ammonyx solutions finishing on
Sweatshirt Sport with immersion method. 60 Male healthy subjects
(football player) participated in this study. They were dressed in a
Sweatshirt for 14 days and some microbes found on them were
investigated. The antimicrobial effect of different ammonyx
solutions(1/100, 1/500, 1/1000, 1/2000 v/v solutions of Ammonyx)
on the identified microbes was studied by the zone inhabitation
method in vitro. In the next step the Sweatshirt Sports were treated
with the same different solutions of ammonyx and the antimicrobial
effectiveness was assessed by colony count method in different times
and the results were compared whit untreated ones. Some mechanical
properties of treated cotton/polyester yarn that used in Sweatshirt
Sport were measured after 30 days and were compared with
untreated one. Finally after finishing, scanning electron microscopy
(SEM) was used to compare the surfaces of the finished and
unfinished specimens. The results showed the presence of five
pathogenic microbes on Sweatshirt Sports such as Escherichia coli,
Staphylococcus aureus, Aspergillus, Mucor and Candida. The
inhalation time for treated on Sweatshirt Sports improved. The
amount of colony growth on treated clothes reduced considerably
and moreover the mechanical tests results showed no significant
deterioration effect of studies properties in comparison to the
untreated yarn. The visual examination of the SEM indicated that the
antimicrobial treatments were applied usefully to fabrics.
Abstract: We integrate TiN/Ni/HfO2/Si RRAM cell with a
vertical gate-all-around (GAA) nanowire transistor to achieve
compact 4F2 footprint in a 1T1R configuration. The tip of the Si
nanowire (source of the transistor) serves as bottom electrode of the
memory cell. Fabricated devices with nanowire diameter ~ 50nm
demonstrate ultra-low current/power switching; unipolar switching
with 10μA/30μW SET and 20μA/30μW RESET and bipolar switching
with 20nA/85nW SET and 0.2nA/0.7nW RESET. Further, the
switching current is found to scale with nanowire diameter making the
architecture promising for future scaling.
Abstract: This paper presents an analytical model to estimate
the cost of an optimized design of reinforced concrete isolated
footing base on structural safety. Flexural and optimized formulas for
square and rectangular footingare derived base on ACI building code
of design, material cost and optimization. The optimization
constraints consist of upper and lower limits of depth and area of
steel. Footing depth and area of reinforcing steel are to be minimized
to yield the optimal footing dimensions. Optimized footing materials
cost of concrete, reinforcing steel and formwork of the designed
sections are computed. Total cost factor TCF and other cost factors
are developed to generalize and simplify the calculations of footing
material cost. Numerical examples are presented to illustrate the
model capability of estimating the material cost of the footing for a
desired axial load.
Abstract: As a result of traffic congestion caused by sightseeing
and shuttle buses using park-and-ride parking lot near sightseeing spot,
the waiting time for tourist increases. In this paper, when bus parking
lot near sightseeing spot are overcrowded and full, a model for tourists
getting off a bus on a congested road and transfer to the sightseeing
spot by foot is proposed and verified. A model of getting off a bus on a
congested road when the sightseeing parking lot is overcrowded was
considered by the case analysis. As a result, effectiveness of the model
of getting off a bus on a congested road could be quantitatively
verified for times when parking capacity is exceeded and the bus
parking lot next to the sightseeing spot is overcrowded.
Abstract: Estimation of stature is an important step in developing a biological profile for human identification. It may provide a valuable indicator for unknown individual in a population. The aim of this study was to analyses the relationship between stature and lower limb dimensions in the Malaysian population. The sample comprised 100 corpses, which included 69 males and 31 females between age ranges of 20 to 90 years old. The parameters measured were stature, thigh length, lower leg length, leg length, foot length, foot height and foot breadth. Results showed that mean values in males were significantly higher than those in females (P < 0.05). There were significant correlations between lower limb dimensions and stature. Cross-validation of the equation on 100 individuals showed close approximation between known stature and estimated stature. It was concluded that lower limb dimensions were useful for estimation of stature, which should be validated in future studies.
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: Moral decisions are considered as an intuitive process,
while conscious reasoning is mostly used only to justify those
intuitions. This problem is described in few different dual-process
theories of mind, that are being developed e.g. by Frederick and
Kahneman, Stanovich and Evans. Those theories recently evolved
into tri-process theories with a proposed process that makes ultimate
decision or allows to paraformal processing with focal bias..
Presented experiment compares the decision patterns to the
implications of those models.
In presented study participants (n=179) considered different
aspects of trolley dilemma or its footbridge version and decided after
that.
Results show that in the control group 70% of people decided to
use the lever to change tracks for the running trolley, and 20% chose
to push the fat man down the tracks. In contrast, after experimental
manipulation almost no one decided to act. Also the decision time
difference between dilemmas disappeared after experimental
manipulation.
The result supports the idea of three co-working processes:
intuitive (TASS), paraformal (reflective mind) and algorithmic
process.
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: Artificial Neural Networks (ANNs) have been used successfully in many scientific, industrial and business domains as a method for extracting knowledge from vast amounts of data. However the use of ANN techniques in the sporting domain has been limited. In professional sport, data is stored on many aspects of teams, games, training and players. Sporting organisations have begun to realise that there is a wealth of untapped knowledge contained in the data and there is great interest in techniques to utilise this data. This study will use player data from the elite Australian Football League (AFL) competition to train and test ANNs with the aim to predict the onset of injuries. The results demonstrate that an accuracy of 82.9% was achieved by the ANNs’ predictions across all examples with 94.5% of all injuries correctly predicted. These initial findings suggest that ANNs may have the potential to assist sporting clubs in the prediction of injuries.
Abstract: Human genome is not only the evolutionary
summation of all advantageous events, but also houses lesions of
deleterious foot prints. A single gene mutation sometimes may
express multiple consequences in numerous tissues and a linear
relationship of the genotype and the phenotype may often be obscure.
ß Thalassemia minor, a transfusion independent mild anaemia,
coupled with environment among other factors may articulate into
phenotypic pleotropy with Hypocholesterolemia, Vitamin D
deficiency, Tissue hypoxia, Hyper-parathyroidism and Psychological
alterations. Occurrence of Pancreatic insufficiency, resultant
steatorrhoea, Vitamin-D (25-OH) deficiency (13.86 ngm/ml) with
Hypocholesterolemia (85mg/dl) in a 30 years old male ß Thal-minor
patient (Hemoglobin 11mg/dl with Fetal Hemoglobin 2.10%, Hb A2
4.60% and Hb Adult 84.80% and altered Hemogram) with increased
Para thyroid hormone (62 pg/ml) & moderate Serum Ca+2
(9.5mg/ml) indicate towards a cascade of phenotypic pleotropy
where the ß Thalassemia mutation ,be it in the 5’ cap site of the
mRNA , differential splicing etc in heterozygous state is effecting
several metabolic pathways. Compensatory extramedulary
hematopoiesis may not coped up well with the stressful life style of
the young individual and increased erythropoietic stress with high
demand for cholesterol for RBC membrane synthesis may have
resulted in Hypocholesterolemia.Oxidative stress and tissue hypoxia
may have caused the pancreatic insufficiency, leading to Vitamin D
deficiency. This may in turn have caused the secondary
hyperparathyroidism to sustain serum Calcium level. Irritability and
stress intolerance of the patient was a cumulative effect of the vicious
cycle of metabolic compromises. From these findings we propose
that the metabolic deficiencies in the ß Thalassemia mutations may
be considered as the phenotypic display of the pleotropy to explain
the genetic epidemiology.
According to the recommendations from the NIH Workshop on
Gene-Environment Interplay in Common Complex Diseases: Forging
an Integrative Model, study design of observations should be
informed by gene-environment hypotheses and results of a study
(genetic diseases) should be published to inform future hypotheses.
Variety of approaches is needed to capture data on all possible
aspects, each of which is likely to contribute to the etiology of
disease. Speakers also agreed that there is a need for development of
new statistical methods and measurement tools to appraise
information that may be missed out by conventional method where
large sample size is needed to segregate considerable effect.
A meta analytic cohort study in future may bring about significant
insight on to the title comment.
Abstract: The State of Rio de Janeiro, Brazil, will hold two important events in the nearby future. In 2014 it will have the final game of the Football World Cup, and in 2016 it will be holding the Olympic Games. Therefore, the public transportation system (mainly buses) is of a major concern to the Rio de Janeiro State authorities-. The main objective of this work is to compare the quality of service of the bus companies operating in the cities of ItaperunaandCampos, both cities situated in the state of Rio de Janeiro, Brazil. The outcome of thiscomparison, based on the opinion of the bus users, has shownthemdispleased with the quality of the service provided by the bus companies operating in both cities. It is urgent the need to find possible practical alternatives to minimize the consequences of the main problems detected in this work. With these practical alternatives available, we will be able to offer to the Rio de Janeiro State authorities- suggestions about possible solutions to the main problems identified in this survey, as well as the time of implantation and costs of these solutions.
Abstract: The objective of the study is to investigate the
effect of a footballer-s postural on selected physical fitness
components. Twenty-one (21) subjects of the university male
footballers under the Sport Excellence Center programme were
photographed using qualitative analysis. The postural variables
were stratified manually into normal and anomalies group and
their flexibility, strength and SAQ performance were
compared using the Mann-Whitney Test. The AROM
assessment and SAQ test reported no significance difference
(Z=-.398, p=0.711, p>0.05), similar to the lower body strength
was shown with no significance different (Z=-.493, p=0.640,
p>0.05). In contrast, only 1 RM strength test for the upper
body strength test shown with a significance different (Z=-
2.537, p=0.009, p
Abstract: Formulation of biological profile is one of the modern roles of forensic anthropologist. The present study was conducted to estimate height using foot and shoeprint length of Malaysian population. The present work can be very useful information in the process of identification of individual in forensic cases based on shoeprint evidence. It can help to narrow down suspects and ease the police investigation. Besides, stature is important parameters in determining the partial identify of unidentified and mutilated bodies. Thus, this study can help the problem encountered in cases of mass disaster, massacre, explosions and assault cases. This is because it is very hard to identify parts of bodies in these cases where people are dismembered and become unrecognizable. Samples in this research were collected from 200 Malaysian adults (100 males and 100 females) with age ranging from 20 to 45 years old. In this research, shoeprint length were measured based on the print of the shoes made from the flat shoes. Other information like gender, foot length and height of subject were also recorded. The data was analyzed using IBM® SPSS Statistics 19 software. Results indicated that, foot length has a strong correlation with stature than shoeprint length for both sides of the feet. However, in the unknown, where the gender was undetermined have shown a better correlation in foot length and shoeprint length parameter compared to males and females analyzed separately. In addition, prediction equations are developed to estimate the stature using linear regression analysis of foot length and shoeprint length. However, foot lengths give better prediction than shoeprint length.