Abstract: A model reference adaptive control and a fixed gain
LQR control were implemented in the height controller of a quadrotor
that has parametric uncertainties due to the act of picking up an
object of unknown dimension and mass. It is shown that an adaptive
controller, unlike the fixed gain controller, is capable of ensuring a
stable tracking performance under such condition, although adaptive
control suffers from several limitations. The combination of both
adaptive and fixed gain control in the controller architecture can
result in an enhanced tracking performance in the presence parametric
uncertainties.
Abstract: In this paper a real-time obstacle avoidance approach
for both autonomous and non-autonomous dynamical systems (DS) is
presented. In this approach the original dynamics of the controller
which allow us to determine safety margin can be modulated.
Different common types of DS increase the robot’s reactiveness in
the face of uncertainty in the localization of the obstacle especially
when robot moves very fast in changeable complex environments.
The method is validated by simulation and influence of different
autonomous and non-autonomous DS such as important
characteristics of limit cycles and unstable DS. Furthermore, the
position of different obstacles in complex environment is explained.
Finally, the verification of avoidance trajectories is described through
different parameters such as safety factor.
Abstract: In this paper, Bayesian online inference in models of
data series are constructed by change-points algorithm, which
separated the observed time series into independent series and study
the change and variation of the regime of the data with related
statistical characteristics. variation of statistical characteristics of time
series data often represent separated phenomena in the some
dynamical system, like a change in state of brain dynamical reflected
in EEG signal data measurement or a change in important regime of
data in many dynamical system. In this paper, prediction algorithm
for studying change point location in some time series data is
simulated. It is verified that pattern of proposed distribution of data
has important factor on simpler and smother fluctuation of hazard
rate parameter and also for better identification of change point
locations. Finally, the conditions of how the time series distribution
effect on factors in this approach are explained and validated with
different time series databases for some dynamical system.
Abstract: In this paper, we considered and applied parametric
modeling for some experimental data of dynamical system. In this
study, we investigated the different distribution of output
measurement from some dynamical systems. Also, with variance
processing in experimental data we obtained the region of
nonlinearity in experimental data and then identification of output
section is applied in different situation and data distribution. Finally,
the effect of the spanning the measurement such as variance to
identification and limitation of this approach is explained.
Abstract: In this paper, model order reduction method is used
for approximation in linear and nonlinearity aspects in some
experimental data. This method can be used for obtaining offline
reduced model for approximation of experimental data and can
produce and follow the data and order of system and also it can
match to experimental data in some frequency ratios. In this study,
the method is compared in different experimental data and influence
of choosing of order of the model reduction for obtaining the best and
sufficient matching condition for following the data is investigated in
format of imaginary and reality part of the frequency response curve
and finally the effect and important parameter of number of order
reduction in nonlinear experimental data is explained further.
Abstract: Performance of different filtering approaches depends
on modeling of dynamical system and algorithm structure. For
modeling and smoothing the data the evaluation of posterior
distribution in different filtering approach should be chosen carefully.
In this paper different filtering approaches like filter KALMAN,
EKF, UKF, EKS and smoother RTS is simulated in some trajectory
tracking of path and accuracy and limitation of these approaches are
explained. Then probability of model with different filters is
compered and finally the effect of the noise variance to estimation is
described with simulations results.
Abstract: Background and aim: It has not been well studied
whether fentanyl-thiopental (FT) is effective and safe for PSA in
orthopedic procedures in Emergency Department (ED). The aim of
this trial was to evaluate the effectiveness of intravenous FT versus
fentanyl-midazolam (FM) in patients who suffered from shoulder
dislocation or distal radial fracture-dislocation.
Methods: In this randomized double-blinded study, Seventy-six
eligible patients were entered the study and randomly received
intravenous FT or FM. The success rate, onset of action and recovery
time, pain score, physicians’ satisfaction and adverse events were
assessed and recorded by treating emergency physicians. The
statistical analysis was intention to treat.
Results: The success rate after administrating loading dose in FT
group was significantly higher than FM group (71.7% vs. 48.9%,
p=0.04); however, the ultimate unsuccessful rate after 3 doses of
drugs in the FT group was higher than the FM group (3 to 1) but it
did not reach to significant level (p=0.61). Despite near equal onset
of action time in two study group (P=0.464), the recovery period in
patients receiving FT was markedly shorter than FM group
(P
Abstract: This paper presents a novel statistical description of
the counterpoise effective length due to lightning surges, where the
(impulse) effective length had been obtained by means of regressive
formulas applied to the transient simulation results. The effective
length is described in terms of a statistical distribution function, from
which median, mean, variance, and other parameters of interest could
be readily obtained. The influence of lightning current amplitude,
lightning front duration, and soil resistivity on the effective length has
been accounted for, assuming statistical nature of these parameters. A
method for determining the optimal counterpoise length, in terms of
the statistical impulse effective length, is also presented. It is based on
estimating the number of dangerous events associated with lightning
strikes. Proposed statistical description and the associated method
provide valuable information which could aid the design engineer in
optimising physical lengths of counterpoises in different grounding
arrangements and soil resistivity situations.
Abstract: This paper presents an evolutionary algorithm for
solving multi-objective optimization problems-based artificial neural
network (ANN). The multi-objective evolutionary algorithm used in
this study is genetic algorithm while ANN used is radial basis
function network (RBFN). The proposed algorithm named memetic
elitist Pareto non-dominated sorting genetic algorithm-based RBFN
(MEPGAN). The proposed algorithm is implemented on medical
diseases problems. The experimental results indicate that the
proposed algorithm is viable, and provides an effective means to
design multi-objective RBFNs with good generalization capability
and compact network structure. This study shows that MEPGAN
generates RBFNs coming with an appropriate balance between
accuracy and simplicity, comparing to the other algorithms found in
literature.
Abstract: At certain depths during large diameter displacement
pile driving, rebound well over 0.25 inches was experienced,
followed by a small permanent-set during each hammer blow. High
pile rebound (HPR) soils may stop the pile driving and results in a
limited pile capacity. In some cases, rebound leads to pile damage,
delaying the construction project, and the requiring foundations
redesign. HPR was evaluated at seven Florida sites, during driving of
square precast, prestressed concrete piles driven into saturated, fine
silty to clayey sands and sandy clays. Pile Driving Analyzer (PDA)
deflection versus time data recorded during installation, was used to
develop correlations between cone penetrometer (CPT) pore-water
pressures, pile displacements and rebound. At five sites where piles
experienced excessive HPR with minimal set, the pore pressure
yielded very high positive values of greater than 20 tsf. However, at
the site where the pile rebounded, followed by an acceptable
permanent-set, the measured pore pressure ranged between 5 and 20
tsf. The pore pressure exhibited values of less than 5 tsf at the site
where no rebound was noticed. In summary, direct correlations
between CPTu pore pressure and rebound were produced, allowing
identification of soils that produce HPR.
Abstract: In Brazil, neonatal mortality rate is considered
incompatible with the country development conditions, and has been
a Public Health concern. Reduction in infant mortality rates has also
been part of the Millennium Development Goals, a commitment
made by countries, members of the Organization of United Nations
(OUN), including Brazil. Fetal mortality rate is considered a highly
sensitive indicator of health care quality. Suitable actions, such as
good quality and access to health services may contribute positively
towards reduction in these fetal and neonatal rates. With appropriate
antenatal follow-up and health care during gestation and delivery,
some death causes could be reduced or even prevented by means of
early diagnosis and intervention, as well as changes in risk factors
and interventions. Objectives: To study the quality of maternal and
infant health care based on fetal and neonatal mortality, as well as the
possible actions to prevent those deaths in Botucatu (Brazil).
Methods: Classification of prevention according to the International
Classification of Diseases and the modified Wigglesworth´s
classification. In order to evaluate adequacy, indicators of quality of
antenatal and delivery care were established by the authors. Results:
Considering fetal deaths, 56.7% of them occurred before delivery,
which reveals possible shortcomings in antenatal care, and 38.2% of
them were a result of intra- labor changes, which could be prevented
or reduced by adequate obstetric management. These findings were
different from those in the group of early neonatal deaths which were
also studied. Adequacy of health services showed that antenatal and
childbirth care was appropriate for 24% and 33.3% of pregnant
women, respectively, which corroborates the results of prevention.
These results revealed that shortcomings in obstetric and antenatal
care could be the causes of deaths in the study. Early and late
neonatal deaths have similar characteristics: 76% could be prevented
or reduced mainly by adequate newborn care (52.9%) and adequate
health care for gestational women (11.7%). When adequacy of care
was evaluated, childbirth and newborn care was adequate in 25.8%
and antenatal care was adequate in 16.1%. In conclusion, direct
relationship was found between adequacy and quality of care
rendered to pregnant women and newborns, and fetal and infant
mortality. Moreover, our findings highlight that deaths could be
prevented by an adequate obstetric and neonatal management.
Abstract: Chemotherapy and radiotherapy are one of the major
treatment modalities that play important role in the management of a
number of different cancers. This study for the first time evaluates the
toxicity of these treatment modalities and its impact on quality of life
of cancer patients in Pakistan. The study also for the first time
determines what cancer patients of different ages and cancer stages
believe would be an effective intervention to manage their
psychosocial needs and treatment induced toxicity. The article also
provides evidence based approach for the use of variety of
interventions to mange cancer treatment induced morbidity and
toxicity. In light of the present study and reviewed research data,
evidence based recommendations are also made for selection of
appropriate interventions to manage Pain, Nausea and Vomiting,
Anxiety and Depression, Fatigue and Overall QOL of cancer
survivors.
Abstract: Text mining techniques are generally applied for
classifying the text, finding fuzzy relations and structures in data
sets. This research provides plenty text mining capabilities. One
common application is text classification and event extraction,
which encompass deducing specific knowledge concerning incidents
referred to in texts. The main contribution of this paper is the
clarification of a concept graph generation mechanism, which is based
on a text classification and optimal fuzzy relationship extraction.
Furthermore, the work presented in this paper explains the application
of fuzzy relationship extraction and branch and bound (BB) method
to simplify the texts.
Abstract: The aim of this study was to design and simulate a
particular type of Asynchronous State Machine (ASM), namely a
‘traffic light controller’ (TLC), operated at a frequency of 0.5 Hz.
The design task involved two main stages: firstly, designing a 4-bit
binary counter using J-K flip flops as the timing signal and,
subsequently, attaining the digital logic by deploying ASM design
process. The TLC was designed such that it showed a sequence of
three different colours, i.e. red, yellow and green, corresponding to
set thresholds by deploying the least number of AND, OR and NOT
gates possible. The software Multisim was deployed to design such
circuit and simulate it for circuit troubleshooting in order for it to
display the output sequence of the three different colours on the
traffic light in the correct order. A clock signal, an asynchronous 4-
bit binary counter that was designed through the use of J-K flip flops
along with an ASM were used to complete this sequence, which was
programmed to be repeated indefinitely. Eventually, the circuit was
debugged and optimized, thus displaying the correct waveforms of
the three outputs through the logic analyser. However, hazards
occurred when the frequency was increased to 10 MHz. This was
attributed to delays in the feedback being too high.
Abstract: Negative pressure phenomenon appears in many
thermodynamic, geophysical and biophysical processes in the Nature
and technological systems. For more than 100 years of the laboratory
researches beginning from F. M. Donny’s tests, the great values of
negative pressure have been achieved. But this phenomenon has not
been practically applied, being only a nice lab toy due to the special
demands for the purity and homogeneity of the liquids for its
appearance. The possibility of creation of direct wave of negative
pressure in real heterogeneous liquid systems was confirmed
experimentally under the certain kinetic and hydraulic conditions.
The negative pressure can be considered as the factor of both useful
and destroying energies. The new approach to generation of the
negative pressure waves in impure, unclean fluids has allowed the
creation of principally new energy saving technologies and
installations to increase the effectiveness and efficiency of different
production processes. It was proved that the negative pressure is one
of the main factors causing hard troubles in some technological and
natural processes. Received results emphasize the necessity to take
into account the role of the negative pressure as an energy factor in
evaluation of many transient thermohydrodynamic processes in the
Nature and production systems.
Abstract: In and around Erode District, it is estimated that more
than 1250 chemical and allied textile processing fabric industries are
affected, partially closed and shut off for various reasons such as poor
management, poor supplier performance, lack of planning for
productivity, fluctuation of output, poor investment, waste analysis,
labor problems, capital/labor ratio, accumulation of stocks, poor
maintenance of resources, deficiencies in the quality of fabric, low
capacity utilization, age of plant and equipment, high investment and
input but low throughput, poor research and development, lack of
energy, workers’ fear of loss of jobs, work force mix and work ethic.
The main objective of this work is to analyze the existing conditions
in textile fabric sector, validate the break even of Total Productivity
(TP), analyze, design and implement fuzzy sets and mathematical
programming for improvement of productivity and quality
dimensions in the fabric processing industry. It needs to be
compatible with the reality of textile and fabric processing industries.
The highly risk events from productivity and quality dimension were
found by fuzzy systems and results are wrapped up among the textile
fabric processing industry.
Abstract: Leukaemia is a blood cancer disease that contributes
to the increment of mortality rate in Malaysia each year. There are
two main categories for leukaemia, which are acute and chronic
leukaemia. The production and development of acute leukaemia cells
occurs rapidly and uncontrollable. Therefore, if the identification of
acute leukaemia cells could be done fast and effectively, proper
treatment and medicine could be delivered. Due to the requirement of
prompt and accurate diagnosis of leukaemia, the current study has
proposed unsupervised pixel segmentation based on clustering
algorithm in order to obtain a fully segmented abnormal white blood
cell (blast) in acute leukaemia image. In order to obtain the
segmented blast, the current study proposed three clustering
algorithms which are k-means, fuzzy c-means and moving k-means
algorithms have been applied on the saturation component image.
Then, median filter and seeded region growing area extraction
algorithms have been applied, to smooth the region of segmented
blast and to remove the large unwanted regions from the image,
respectively. Comparisons among the three clustering algorithms are
made in order to measure the performance of each clustering
algorithm on segmenting the blast area. Based on the good sensitivity
value that has been obtained, the results indicate that moving kmeans
clustering algorithm has successfully produced the fully
segmented blast region in acute leukaemia image. Hence, indicating
that the resultant images could be helpful to haematologists for
further analysis of acute leukaemia.
Abstract: Assembly line balancing problem is aimed to divide
the tasks among the stations in assembly lines and optimize some
objectives. In assembly lines the workload on stations is different
from each other due to different tasks times and the difference in
workloads between stations can cause blockage or starvation in some
stations in assembly lines. Buffers are used to store the semi-finished
parts between the stations and can help to smooth the assembly
production. The assembly line balancing and buffer sizing problem
can affect the throughput of the assembly lines. Assembly line
balancing and buffer sizing problems have been studied separately in
literature and due to their collective contribution in throughput rate of
assembly lines, balancing and buffer sizing problem are desired to
study simultaneously and therefore they are considered concurrently
in current research. Current research is aimed to maximize
throughput, minimize total size of buffers in assembly line and
minimize workload variations in assembly line simultaneously. A
multi objective optimization objective is designed which can give
better Pareto solutions from the Pareto front and a simple example
problem is solved for assembly line balancing and buffer sizing
simultaneously. Current research is significant for assembly line
balancing research and it can be significant to introduce optimization
approaches which can optimize current multi objective problem in
future.
Abstract: A game for training of breath (TRABR) for continuous
monitoring of pulmonary ventilation during the patients’ therapy
focuses especially on monitoring of their ventilation processes. It is
necessary to detect, monitor and differentiate abdominal and thoracic
breathing during the therapy. It is a fun form of rehabilitation where
the patient plays and also practicing isolated breathing. Finally the
game to practice breath was designed to evaluate whether the patient
uses two types of breathing or not.
Abstract: Code- mixing in spontaneous speech has been widely
discussed, but not in virtual situations; especially in context of the
third language learning students. Thus, this study is an attempt to
explore the linguistic characteristics of the mixing of Japanese,
English and Thai in a mobile Line chat room by students with their
background of English as L2, Japanese as L3 and Thai as mother
tongue. The result found that insertion of Thai content words is a very
common linguistic phenomenon embedded with the other two
languages in the sentences. As chatting is to be ‘relational’ or
‘interactional’, it affected the style of lexical choices to be speech-like,
more personal and emotionally-related. A personal pronoun in
Japanese is often mixed into the sentences. The Japanese
sentence-final question particle か “ka” was added to the end of the
sentence based on Thai grammar rules. Some unique characteristics
were created while chatting.