Abstract: Evolutionary robotics is concerned with the design of
intelligent systems with life-like properties by means of simulated
evolution. Approaches in evolutionary robotics can be categorized
according to the control structures that represent the behavior and the
parameters of the controller that undergo adaptation. The basic idea
is to automatically synthesize behaviors that enable the robot to
perform useful tasks in complex environments. The evolutionary
algorithm searches through the space of parameterized controllers
that map sensory perceptions to control actions, thus realizing a
specific robotic behavior. Further, the evolutionary algorithm
maintains and improves a population of candidate behaviors by
means of selection, recombination and mutation. A fitness function
evaluates the performance of the resulting behavior according to the
robot-s task or mission. In this paper, the focus is in the use of
genetic algorithms to solve a multi-objective optimization problem
representing robot behaviors; in particular, the A-Compander Law is
employed in selecting the weight of each objective during the
optimization process. Results using an adaptive fitness function show
that this approach can efficiently react to complex tasks under
variable environments.
Abstract: The aim of this study was to determine noise level of
six different types of machines in printing companies in Novi Sad.
The A-weighted levels on Leq, Lmax and Lmin Sound Pressure Level
(SPL) in dBA were measured. It was found that the folders, offset
printing presses and binding machines are the predominant noise
sources. The noise levels produced by 12 of 38 machines exceed the
limiting threshold level of 85 dBA, tolerated by law. Since it was
determined that the average noise level for folders (87.7 dB) exceeds
the permitted value the octave analysis of noise was performed.
Abstract: In this research, the laminar heat transfer of natural convection on vertical surfaces has been investigated. Most of the studies on natural convection have been considered constantly whereas velocity and temperature domain, do not change with time, transient one are used a lot. Governing equations are solved using a finite volume approach. The convective terms are discretized using the power-law scheme, whereas for diffusive terms the central difference is employed. Coupling between the velocity and pressure is made with SIMPLE algorithm. The resultant system of discretized linear algebraic equations is solved with an alternating direction implicit scheme. Then a configuration of rectangular fins is put in different ways on the surface and heat transfer of natural convection on these surfaces without sliding is studied and finally optimization is done.
Abstract: A multi-block algorithm and its implementation in two-dimensional finite element numerical model CCHE2D are presented. In addition to a conventional Lagrangian Interpolation Method (LIM), a novel interpolation method, called Consistent Interpolation Method (CIM), is proposed for more accurate information transfer across the interfaces. The consistent interpolation solves the governing equations over the auxiliary elements constructed around the interpolation nodes using the same numerical scheme used for the internal computational nodes. With the CIM, the momentum conservation can be maintained as well as the mass conservation. An imbalance correction scheme is used to enforce the conservation laws (mass and momentum) across the interfaces. Comparisons of the LIM and the CIM are made using several flow simulation examples. It is shown that the proposed CIM is physically more accurate and produces satisfactory results efficiently.
Abstract: In this paper; we are interested in dynamic modelling of quadrotor while taking into account the high-order nonholonomic constraints as well as the various physical phenomena, which can influence the dynamics of a flying structure. These permit us to introduce a new state-space representation and new control scheme. We present after the development and the synthesis of a stabilizing control laws design based on sliding mode in order to perform best tracking results. It ensures locally asymptotic stability and desired tracking trajectories. Nonlinear observer is then synthesized in order to estimate the unmeasured states and the effects of the external disturbances such as wind and noise. Finally simulation results are also provided in order to illustrate the performances of the proposed controllers.
Abstract: Construction projects can be implemented under various contractual and organizational systems. They can be divided into two groups: systems without the managing company where the Client manages the process, and systems with the managing company, where management is entrusted to an external company. In the public sector of the Polish market there are two ways of delivery of construction projects with the participation of the manager: one is to assign operations to another party, the so called Project Supervisor, whilst the other results from the application of FIDIC conditions of contract, which entail appointment of the Engineer. The decision is to be made by the Client and depends on various factors. On the public procurement market in Poland the selection of construction project manager boils down to awarding the contract for such a service. The selection can be done by one of eight public procurement procedures identified by the procurement law. The paper provides the analysis of 96 contracts for services awarded in 2011, which employed construction management. The study aimed to investigate the methods and criteria for selecting managers, applied in practice by the Polish public Clients.
Abstract: The Portuguese Constitution, in article 22, instituted
the general principle of tort liability of the State and other public law
entities.
Consequently, ordinary legislation established the tort liability of
the State into the Portuguese Legal Order, by means of Decree-Law
48051, of 1967.
This decree, which was criticised extensively, was amended by
virtue of Law 67/2007, of 31st December, establishing the regime for
tort liability arising from losses caused by third parties, due to the
acts of public management in relation to all the functions of the State,
i.e. i) administrative, ii) legislative, and iii) jurisdictional.
Abstract: The scale dependence of the strength of virtually homogeneous rock is usually considered to be insignificant but the spectrum of discontinuities plays a very important role for the strength of differently sized rock elements and also controls the rock creep strain. Large-scale load tests comprised recording of the creep strain rate that was found to be strongly retarded and negligible for stresses lower than about 1/3 of the failure load. For higher stresses creep took place according to a log time law representing secondary creep that ultimately changed to tertiary creep and failure.
Abstract: Today-s Voltage Regulator Modules (VRMs) face increasing design challenges as the number of transistors in microprocessors increases per Moore-s Law. These challenges have recently become even more demanding as microprocessors operate at sub voltage range at significantly high current. This paper presents a new multiphase topology with cell configuration for improved performance in low voltage and high current applications. A lab scale hardware prototype of the new topology was design and constructed. Laboratory tests were performed on the proposed converter and compared with a commercially available VRM. Results from the proposed topology exhibit improved performance compared to the commercially available counterpart.
Abstract: A study was conducted to determine the effect of
feeding glycerol on dairy cows performance. Twenty four Holstein
Friesian crossbred (>87.5% Holstein Friesian) lactating dairy cows in
early lactation; averaging 13+2.4 kg of milk, 64+45 days in milk,
55+16 months old and 325+26 kg live weight, were stratified for
milk yield, days in milk, age, stage of lactation and body weight, and
then randomly allocated to three treatment groups. All cows were fed
approximate 8 kg of concentrate together with ad libitum corn silage
and freely access to clean water. Nil or 150 and 300g of glycerol
were supplemented to the cows according to treatment groups. All
cows consumed similar concentrate, corn silage and total DM and
NELP. There were no significant differences in DM intake, CP intake,
NELP intake, milk and milk composition yields. All cows had similar
fat, protein, lactose, solid not fat and total solid percentage. All cows
gain similar live weight. The present study indicated that,
supplementation of glycerol did not enhance milk yield, milk
composition and live weight change.
Abstract: This paper describes the crashworthiness assessment and improvement of tlting train made of sandwich composites. The crashworhiness assessment of tilting train was conducted according to four collision scenarios of the Korean railway safety law. Collision analysis was carried out using explicit finite element analysis code LS-DYNA 3D. The finite element model consists of 3-D finite element model and 1-D equivalent model to save the finite element modeling and calculation time. It found that the crashworthiness analysis results were satisfied with the performance requirements except the crash scenario-2. In order to meet the crashworthiness requirements for crash scenario-2, the stiffness reinforcement for the laminate composite cover and metal frames of cabmask structure were proposed. Consequentially, it has satisfied the requirement for crash scenario-2.
Abstract: An exploratory computational investigation using
RANS & URANS was carried out to understand the aerodynamics
around an isolatedsingle rotating wheel with decreasing ground
proximity. The wheel was initially modeled in free air conditions,
then with decreasing ground proximity and increased yaw angle with
rotational speeds. Three speeds of rotation were applied to the wheel
so that the effect of different angular velocities can be investigated. In
addition to rotation, three different yaw angles were applied to the
rotating wheel in order to understand how these two variables
combined affect the aerodynamic flow field around the wheel.
Abstract: In this paper, we propose a solution to the motion
control problem of a 2-link revolute manipulator arm. We require the
end-effector of the arm to move safely to its designated target in a
priori known workspace cluttered with fixed circular obstacles of
arbitrary position and sizes. Firstly a unique velocity algorithm is
used to move the end-effector to its target. Secondly, for obstacle
avoidance a turning angle is designed, which when incorporated into
the control laws ensures that the entire robot arm avoids any number
of fixed obstacles along its path enroute the target. The control laws
proposed in this paper also ensure that the equilibrium point of the
system is asymptotically stable. Computer simulations of the
proposed technique are presented.
Abstract: New theory for functionally graded (FG) shell based on expansion of the equations of elasticity for functionally graded materials (GFMs) into Legendre polynomials series has been developed. Stress and strain tensors, vectors of displacements, traction and body forces have been expanded into Legendre polynomials series in a thickness coordinate. In the same way functions that describe functionally graded relations has been also expanded. Thereby all equations of elasticity including Hook-s law have been transformed to corresponding equations for Fourier coefficients. Then system of differential equations in term of displacements and boundary conditions for Fourier coefficients has been obtained. Cases of the first and second approximations have been considered in more details. For obtained boundary-value problems solution finite element (FE) has been used of Numerical calculations have been done with Comsol Multiphysics and Matlab.
Abstract: The product development process (PDP) in the
Technology group plays a very important role in the launch of any
product. While a manufacturing process encourages the use of certain
measures to reduce health, safety and environmental (HSE) risks on
the shop floor, the PDP concentrates on the use of Geometric
Dimensioning and Tolerancing (GD&T) to develop a flawless design.
Furthermore, PDP distributes and coordinates activities between
different departments such as marketing, purchasing, and
manufacturing. However, it is seldom realized that PDP makes a
significant contribution to developing a product that reduces HSE
risks by encouraging the Technology group to use effective GD&T.
The GD&T is a precise communication tool that uses a set of
symbols, rules, and definitions to mathematically define parts to be
manufactured. It is a quality assurance method widely used in the oil
and gas sector. Traditionally it is used to ensure the
interchangeability of a part without affecting its form, fit, and
function. Parts that do not meet these requirements are rejected
during quality audits.
This paper discusses how the Technology group integrates this
quality assurance tool into the PDP and how the tool plays a major
role in helping the HSE department in its goal towards eliminating
HSE incidents. The PDP involves a thorough risk assessment and
establishes a method to address those risks during the design stage.
An illustration shows how GD&T helped reduce safety risks by
ergonomically improving assembling operations. A brief discussion
explains how tolerances provided on a part help prevent finger injury.
This tool has equipped Technology to produce fixtures, which are
used daily in operations as well as manufacturing. By applying
GD&T to create good fits, HSE risks are mitigated for operating
personnel. Both customers and service providers benefit from
reduced safety risks.
Abstract: Providing Services at Home has become over the last
few years a very dynamic and promising technological domain. It is
likely to enable wide dissemination of secure and automated living
environments. We propose a methodology for identifying threats to
Services at Home Delivery systems, as well as a threat analysis
of a multi-provider Home Gateway architecture. This methodology
is based on a dichotomous positive/preventive study of the target
system: it aims at identifying both what the system must do, and
what it must not do. This approach completes existing methods with
a synthetic view of potential security flaws, thus enabling suitable
measures to be taken into account. Security implications of the
evolution of a given system become easier to deal with. A prototype
is built based on the conclusions of this analysis.
Abstract: Potassium monopersulfate has been decomposed in
aqueous solution in the presence of Co(II). The effect of the main
operating variables has been assessed. Minimum variations in pH
exert a considerable influence on the process kinetics. Thus, when no
pH adjustment is considered, the actual effect of variables like initial
monopersulfate and/or catalyst concentration may be hindered. As
expected, temperature enhances the monopersulfate decomposition
rate by following the Arrhenius law. The activation energy in the
proximity of 85 kJ/mol has been obtained. Amongst the different
solids tested in the monopersulfate decomposition, only the
perovskite LaTi0.15Cu0.85O3 has shown a significant catalytic activity.
Abstract: In order to monitor for traffic traversal, sensors can be
deployed to perform collaborative target detection. Such a sensor
network achieves a certain level of detection performance with the
associated costs of deployment and routing protocol. This paper
addresses these two points of sensor deployment and routing algorithm
in the situation where the absolute quantity of sensors or total energy
becomes insufficient. This discussion on the best deployment system
concluded that two kinds of deployments; Normal and Power law
distributions, show 6 and 3 times longer than Random distribution in
the duration of coverage, respectively. The other discussion on routing
algorithm to achieve good performance in each deployment system
was also addressed. This discussion concluded that, in place of the
traditional algorithm, a new algorithm can extend the time of coverage
duration by 4 times in a Normal distribution, and in the circumstance
where every deployed sensor operates as a binary model.
Abstract: Cognitive Science appeared about 40 years ago,
subsequent to the challenge of the Artificial Intelligence, as common
territory for several scientific disciplines such as: IT, mathematics,
psychology, neurology, philosophy, sociology, and linguistics. The
new born science was justified by the complexity of the problems
related to the human knowledge on one hand, and on the other by the
fact that none of the above mentioned sciences could explain alone
the mental phenomena. Based on the data supplied by the
experimental sciences such as psychology or neurology, models of
the human mind operation are built in the cognition science. These
models are implemented in computer programs and/or electronic
circuits (specific to the artificial intelligence) – cognitive systems –
whose competences and performances are compared to the human
ones, leading to the psychology and neurology data reinterpretation,
respectively to the construction of new models. During these
processes if psychology provides the experimental basis, philosophy
and mathematics provides the abstraction level utterly necessary for
the intermission of the mentioned sciences.
The ongoing general problematic of the cognitive approach
provides two important types of approach: the computational one,
starting from the idea that the mental phenomenon can be reduced to
1 and 0 type calculus operations, and the connection one that
considers the thinking products as being a result of the interaction
between all the composing (included) systems. In the field of
psychology measurements in the computational register use classical
inquiries and psychometrical tests, generally based on calculus
methods. Deeming things from both sides that are representing the
cognitive science, we can notice a gap in psychological product
measurement possibilities, regarded from the connectionist
perspective, that requires the unitary understanding of the quality –
quantity whole. In such approach measurement by calculus proves to
be inefficient. Our researches, deployed for longer than 20 years,
lead to the conclusion that measuring by forms properly fits to the
connectionism laws and principles.
Abstract: The public sector losses are the major cause of stagnant growth of Pakistan. Public sector automotive manufacturing industry is one of the major contributors of these losses. This research has been carried out in order to identify the major barriers of productivity of this industry and suggest measures for improvement. This qualitative and quantitative research consisted of informal interviews, discussions augmented by closed ended questionnaire. Three major manufacturing units were chosen for this research and responses from 103 employees were collected. It was found out in this research that numerous productivity flaws exist in the system which requires immediate attention. Besides highlighting flaws this research also suggests corrective actions and areas for future research to overcome these problems.