Abstract: This paper seeks to develop simple yet practical and
efficient control scheme that enables cooperating arms to handle a
flexible beam. Specifically the problem studied herein is that of two
arms rigidly grasping a flexible beam and such capable of generating
forces/moments in such away as to move a flexible beam along a
predefined trajectory. The paper develops a sliding mode control law
that provides robustness against model imperfection and uncertainty.
It also provides an implicit stability proof. Simulation results for two
three joint arms moving a flexible beam, are presented to validate the
theoretical results.
Abstract: The aim of the study was to identify seat belt wearing
factor among road users in Malaysia. Evidence-based approach
through in-depth crash investigation was utilised to determine the
intended objectives. The objective was scoped into crashes
investigated by Malaysian Institute of Road Safety Research
(MIROS) involving passenger vehicles within 2007 and 2010. Crash
information of a total of 99 crash cases involving 240 vehicles and
864 occupants were obtained during the study period. Statistical test
and logistic regression analysis have been performed. Results of the
analysis revealed that gender, seat position and age were associated
with seat belt wearing compliance in Malaysia. Males are 97.6%
more likely to wear seat belt compared to females (95% CI 1.317 to
2.964). By seat position, the finding indicates that frontal occupants
were 82 times more likely to be wearing seat belt (95% CI 30.199 to
225.342) as compared to rear occupants. It is also important to note
that the odds of seat belt wearing increased by about 2.64% (95% CI
1.0176 to 1.0353) for every one year increase in age. This study is
essential in understanding the Malaysian tendency in belting up
while being occupied in a vehicle. The factors highlighted in this
study should be emphasized in road safety education in order to
increase seat belt wearing rate in this country and ultimately in
preventing deaths due to road crashes.
Abstract: Due to the environmental and price issues of current
energy crisis, scientists and technologists around the globe are
intensively searching for new environmentally less-impact form of
clean energy that will reduce the high dependency on fossil fuel.
Particularly hydrogen can be produced from biomass via thermochemical
processes including pyrolysis and gasification due to the
economic advantage and can be further enhanced through in-situ
carbon dioxide removal using calcium oxide. This work focuses on
the synthesis and development of the flowsheet for the enhanced
biomass gasification process in PETRONAS-s iCON process
simulation software. This hydrogen prediction model is conducted at
operating temperature between 600 to 1000oC at atmospheric
pressure. Effects of temperature, steam-to-biomass ratio and
adsorbent-to-biomass ratio were studied and 0.85 mol fraction of
hydrogen is predicted in the product gas. Comparisons of the results
are also made with experimental data from literature. The
preliminary economic potential of developed system is RM 12.57 x
106 which equivalent to USD 3.77 x 106 annually shows economic
viability of this process.
Abstract: Macrobenthos distribution along the coastal waters of
Penang National Park was studid to estimate the effect of different
environmental parameters at three stations, during six sampling
months, from June 2010 to April 2011. The aim of this survey was to
investigate different environment stress over soft bottom polychaete
community along Teluk Ketapang and Pantai Acheh (Penang
National Park) over a year period. Variations in the polychaete
community were evaluated using univariate and multivariate
methods. A total of 604 individuals were examined which was
grouped into 23 families. Family Nereidae was the most abundant
(22.68%), followed by Spionidae (22.02%), Hesionidae (12.58%),
Nephtylidae (9.27%) and Orbiniidae (8.61%). It is noticeable that
good results can only be obtained on the basis of good taxonomic
resolution. The maximum Shannon-Wiener diversity (H'=2.16) was
recorded at distance 200m and 1200m (August 2010) in Teluk
Ketapang and lowest value of diversity was found at distance 1200m
(December 2010) in Teluk Ketapang.
Abstract: The data exchanged on the Web are of different nature
from those treated by the classical database management systems;
these data are called semi-structured data since they do not have a
regular and static structure like data found in a relational database;
their schema is dynamic and may contain missing data or types.
Therefore, the needs for developing further techniques and
algorithms to exploit and integrate such data, and extract relevant
information for the user have been raised. In this paper we present
the system OSIX (Osiris based System for Integration of XML
Sources). This system has a Data Warehouse model designed for the
integration of semi-structured data and more precisely for the
integration of XML documents. The architecture of OSIX relies on
the Osiris system, a DL-based model designed for the representation
and management of databases and knowledge bases. Osiris is a viewbased
data model whose indexing system supports semantic query
optimization. We show that the problem of query processing on a
XML source is optimized by the indexing approach proposed by
Osiris.
Abstract: Cameron Highlands is a mountainous area subjected
to torrential tropical showers. It extracts 5.8 million liters of water
per day for drinking supply from its rivers at several intake points.
The water quality of rivers in Cameron Highlands, however, has
deteriorated significantly due to land clearing for agriculture,
excessive usage of pesticides and fertilizers as well as construction
activities in rapidly developing urban areas. On the other hand, these
pollution sources known as non-point pollution sources are diverse
and hard to identify and therefore they are difficult to estimate.
Hence, Geographical Information Systems (GIS) was used to provide
an extensive approach to evaluate landuse and other mapping
characteristics to explain the spatial distribution of non-point sources
of contamination in Cameron Highlands. The method to assess
pollution sources has been developed by using Cameron Highlands
Master Plan (2006-2010) for integrating GIS, databases, as well as
pollution loads in the area of study. The results show highest annual
runoff is created by forest, 3.56 × 108 m3/yr followed by urban
development, 1.46 × 108 m3/yr. Furthermore, urban development
causes highest BOD load (1.31 × 106 kgBOD/yr) while agricultural
activities and forest contribute the highest annual loads for
phosphorus (6.91 × 104 kgP/yr) and nitrogen (2.50 × 105 kgN/yr),
respectively. Therefore, best management practices (BMPs) are
suggested to be applied to reduce pollution level in the area.
Abstract: This paper describes an algorithm to estimate realtime vehicle velocity using image processing technique from the known camera calibration parameters. The presented algorithm involves several main steps. First, the moving object is extracted by utilizing frame differencing technique. Second, the object tracking method is applied and the speed is estimated based on the displacement of the object-s centroid. Several assumptions are listed to simplify the transformation of 2D images from 3D real-world images. The results obtained from the experiment have been compared to the estimated ground truth. From this experiment, it exhibits that the proposed algorithm has achieved the velocity accuracy estimation of about ± 1.7 km/h.
Abstract: This paper presents the use of anti-sway angle control
approaches for a two-dimensional gantry crane with disturbances
effect in the dynamic system. Delayed feedback signal (DFS) and
proportional-derivative (PD)-type fuzzy logic controller are the
techniques used in this investigation to actively control the sway
angle of the rope of gantry crane system. A nonlinear overhead
gantry crane system is considered and the dynamic model of the
system is derived using the Euler-Lagrange formulation. A complete
analysis of simulation results for each technique is presented in time
domain and frequency domain respectively. Performances of both
controllers are examined in terms of sway angle suppression and
disturbances cancellation. Finally, a comparative assessment of the
impact of each controller on the system performance is presented and
discussed.
Abstract: This study determines the effect of naked and heparinbased
super-paramagnetic iron oxide nanoparticles on the human
cancer cell lines of A2780. Doxorubicin was used as the anticancer
drug, entrapped in the SPIO-NPs. This study aimed to decorate
nanoparticles with heparin, a molecular ligand for 'active' targeting
of cancerous cells and the application of modified-nanoparticles in
cancer treatment. The nanoparticles containing the anticancer drug
DOX were prepared by a solvent evaporation and emulsification
cross-linking method. The physicochemical properties of the
nanoparticles were characterized by various techniques, and uniform
nanoparticles with an average particle size of 110±15 nm with high
encapsulation efficiencies (EE) were obtained. Additionally, a
sustained release of DOX from the SPIO-NPs was successful.
Cytotoxicity tests showed that the SPIO-DOX-HP had higher cell
toxicity than the individual HP and confocal microscopy analysis
confirmed excellent cellular uptake efficiency. These results indicate
that HP based SPIO-NPs have potential uses as anticancer drug
carriers and also have an enhanced anticancer effect.
Abstract: Structural behavior of ring stiffened thick walled
cylinders made of functionally graded materials (FGMs) is
investigated in this paper. Functionally graded materials are inhomogeneous composites which are usually made from a mixture
of metal and ceramic. The gradient compositional variation of the
constituents from one surface to the other provides an elegant solution to the problem of high transverse shear stresses that are
induced when two dissimilar materials with large differences in material properties are bonded. FGM formation of the cylinder is
modeled by power-law exponent and the variation of characteristics is supposed to be in radial direction.
A finite element formulation is derived for the analysis. According to the property variation of the constituent materials in the radial
direction of the wall, it is not convenient to use conventional elements to model and analyze the structure of the stiffened FGM
cylinders. In this paper a new cylindrical super-element is used to model the finite element formulation and analyze the static and
modal behavior of stiffened FGM thick walled cylinders. By using
this super-element the number of elements, which are needed for
modeling, will reduce significantly and the process time is less in comparison with conventional finite element formulations. Results for static and modal analysis are evaluated and verified by
comparison to finite element formulation with conventional
elements. Comparison indicates a good conformity between results.
Abstract: In this investigation Salicylic acid, Sulfosalicylic acid
and Acetyl salicylic acid were chosen as a sample for thin layer
chromatography (TLC) on silica gel plates. Bicarbonate buffer at
different pH containing different amounts of boric acid was applied
as mobile phase. Specific interaction of these substances with boric
acid has effect on Rf in thin layer chromatography. Regular and
similar trend was observed in variations of Rf for mentioned
compounds in TLC by altering of percentages of boric acid in mobile
phase in pH range of 8-10. Also effect of organic solvent, mixture of
water/ organic solvent and organic solvent containing boric acid as
mobile phase was studied.
Abstract: Characteristics and sonocatalytic activity of zeolite
Y catalysts loaded with TiO2 using impregnation and ion exchange
methods for the degradation of amaranth dye were investigated.
The Ion-exchange method was used to encapsulate the TiO2 into
the internal pores of the zeolite while the incorporation of TiO2
mostly on the external surface of zeolite was carried out using the
impregnation method. Different characterization techniques were
used to elucidate the physicochemical properties of the produced
catalysts. The framework of zeolite Y remained virtually
unchanged after the encapsulation of TiO2 while the crystallinity of
zeolite decreased significantly after the incorporation of 15 wt% of
TiO2. The sonocatalytic activity was enhanced by TiO2
incorporation with maximum degradation efficiencies of 50% and
68% for the encapsulated titanium and titanium loaded onto the
zeolite, respectively after 120min of reaction. Catalysts
characteristics and sonocatalytic behaviors were significantly
affected by the preparation method and the location of TiO2
introduced with zeolite structure. Behaviors in the sonocatalytic
process were successfully correlated with the characteristics of the
catalysts used.
Abstract: A new chelating resin is prepared by coupling Amberlite XAD-4 with 1-amino-2-naphthole through an azo spacer. The resulting sorbent has been characterized by FT-IR, elemental analysis and thermogravimetric analysis (TGA) and studied for preconcentrating of Fe (II) using flame atomic absorption spectrometry (FAAS) for metal monitoring. The optimum pH value for sorption of the iron ions was 6.5. The resin was subjected to evaluation through batch binding of mentioned metal ion. Quantitative desorption occurs instantaneously with 0.5 M HNO3. The sorption capacity was found 4.1 mmol.g-1 of resin for Fe (II) in the aqueous solution. The chelating resin can be reused for 10 cycles of sorption-desorption without any significant change in sorption capacity. A recovery of 97% was obtained the metal ions with 0.5 M HNO3 as eluting agent. The method was applied for metal ions determination from industrial waste water sample.
Abstract: A mobile agent is a software which performs an
action autonomously and independently as a person or an
organizations assistance. Mobile agents are used for searching
information, retrieval information, filtering, intruder recognition in
networks, and so on. One of the important issues of mobile agent is
their security. It must consider different security issues in effective
and secured usage of mobile agent. One of those issues is the
integrity-s protection of mobile agents.
In this paper, the advantages and disadvantages of each method,
after reviewing the existing methods, is examined. Regarding to this
matter that each method has its own advantage or disadvantage, it
seems that by combining these methods, one can reach to a better
method for protecting the integrity of mobile agents. Therefore, this
method is provided in this paper and then is evaluated in terms of
existing method. Finally, this method is simulated and its results are
the sign of improving the possibility of integrity-s protection of
mobile agents.
Abstract: KREISIG is a computer simulation program, firstly developed by Munawar (1994) in Germany to optimize signalized roundabout. The traffic movement is based on the car following theory. Turbine method has been implemented for signal setting. The program has then been further developed in Indonesia to meet the traffic characteristics in Indonesia by adjusting the sensitivity of the drivers. Trial and error method has been implemented to adjust the saturation flow. The saturation flow output has also been compared to the calculation method according to 1997 Indonesian Highway Capacity Manual. It has then been implemented to optimize signalized roundabout at Kleringan roundabout in Malioboro area, Yogyakarta, Indonesia. It is found that this method can optimize the signal setting of this roundabout. Therefore, it is recommended to use this program to optimize signalized roundabout.
Abstract: In this study we investigate the insertion of
pioglitazone, a Thiazolidinedione, into the two different sizes of
Carbon nanotub. It was shown that the insertion of pioglitazone into
the carbon nanotube in a water solute environment could be related
to the diameter of the nanotube and in the flow of the waters via
hydrophilic interactions. This encapsulated drug-carbon nanotube
molecule can be further applicable in other investigations in target
therapy with these agents regarding to reduce their potential toxic
effects.
Abstract: E-Appointment Scheduling (EAS) has been developed
to handle appointment for UMP students, lecturers in Faculty of
Computer Systems & Software Engineering (FCSSE) and Student
Medical Center. The schedules are based on the timetable and
university activities. Constraints Logic Programming (CLP) has been
implemented to solve the scheduling problems by giving
recommendation to the users in part of determining any available
slots from the lecturers and doctors- timetable. By using this system,
we can avoid wasting time and cost because this application will set
an appointment by auto-generated. In addition, this system can be an
alternative to the lecturers and doctors to make decisions whether to
approve or reject the appointments.
Abstract: In this paper, an efficient structural approach for
recognizing on-line handwritten digits is proposed. After reading
the digit from the user, the slope is estimated and normalized for
adjacent nodes. Based on the changing of signs of the slope values,
the primitives are identified and extracted. The names of these
primitives are represented by strings, and then a finite state
machine, which contains the grammars of the digits, is traced to
identify the digit. Finally, if there is any ambiguity, it will be
resolved. Experiments showed that this technique is flexible and
can achieve high recognition accuracy for the shapes of the digits
represented in this work.
Abstract: Considering non-ideal behavior of fluids and its effects on hydrodynamic and mass transfer in multiphase flow is very essential. Simulations were performed that takes into account the effects of mass transfer and mixture non-ideality on hydrodynamics reported by Irani et al. In this paper, by assuming the density of phases to be constant and Raullt-s law instead of using EOS and fugacity coefficient definition, respectively for both the liquid and gas phases, the importance of non-ideality effects on mass transfer and hydrodynamic behavior was studied. The results for a system of octane/propane (T=323 K, P =445 kpa) also indicated that the assumption of constant density in simulation had major role to diverse from experimental data. Furthermore, comparison between obtained results and the previous report indicated significant differences between experimental data and simulation results with more ideal assumptions.
Abstract: Car failure detection is a complicated process and
requires high level of expertise. Any attempt of developing an expert
system dealing with car failure detection has to overcome various
difficulties. This paper describes a proposed knowledge-based
system for car failure detection. The paper explains the need for an
expert system and the some issues on developing knowledge-based
systems, the car failure detection process and the difficulties involved
in developing the system. The system structure and its components
and their functions are described. The system has about 150 rules for
different types of failures and causes. It can detect over 100 types of
failures. The system has been tested and gave promising results.