Abstract: The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems, the stiffness of the internal parallel modules, representing 2 DOF joints in the serial robotic chains, is controlled by co-activation of opposing redundant actuator groups in the null-space of the module Jacobian, without influencing the actual robot position. The decoupled position/stiffness control allows the realization of variable joint stiffness according to different force-displacement relationships. The variable joint stiffness, as well as limited pneumatic muscle/bellows force ability, ensures internal system safety that is crucial for development of human-friendly robots intended for human-robot collaboration. The initial experiments with the system prototype demonstrate the capabilities of independently, simultaneously controlling both joint (Cartesian) motion and joint stiffness. The paper also presents the possible industrial applications of snake-like robots built using the new modules.
Abstract: Grid computing provides a virtual framework for
controlled sharing of resources across institutional boundaries.
Recently, trust has been recognised as an important factor for
selection of optimal resources in a grid. We introduce a new method
that provides a quantitative trust value, based on the past interactions
and present environment characteristics. This quantitative trust value
is used to select a suitable resource for a job and eliminates run time
failures arising from incompatible user-resource pairs. The proposed
work will act as a tool to calculate the trust values of the various
components of the grid and there by improves the success rate of the
jobs submitted to the resource on the grid. The access to a resource
not only depend on the identity and behaviour of the resource but
also upon its context of transaction, time of transaction, connectivity
bandwidth, availability of the resource and load on the resource. The
quality of the recommender is also evaluated based on the accuracy
of the feedback provided about a resource. The jobs are submitted for
execution to the selected resource after finding the overall trust value
of the resource. The overall trust value is computed with respect to
the subjective and objective parameters.
Abstract: In this paper we present the deep study about the Bio-
Medical Images and tag it with some basic extracting features (e.g.
color, pixel value etc). The classification is done by using a nearest
neighbor classifier with various distance measures as well as the
automatic combination of classifier results. This process selects a
subset of relevant features from a group of features of the image. It
also helps to acquire better understanding about the image by
describing which the important features are. The accuracy can be
improved by increasing the number of features selected. Various
types of classifications were evolved for the medical images like
Support Vector Machine (SVM) which is used for classifying the
Bacterial types. Ant Colony Optimization method is used for optimal
results. It has high approximation capability and much faster
convergence, Texture feature extraction method based on Gabor
wavelets etc..
Abstract: A novel physico-chemical route to produce few layer graphene nanoribbons with atomically smooth edges is reported, via acid treatment (H2SO4:HNO3) followed by characteristic thermal shock processes involving extremely cold substances. Samples were studied by scanning electron microscopy (SEM), transmission electron microscopy (TEM), X-ray diffraction (XRD), Raman spectroscopy and X-ray photoelectron spectroscopy. This method demonstrates the importance of having the nanotubes open ended for an efficient uniform unzipping along the nanotube axis. The average dimensions of these nanoribbons are approximately ca. 210 nm wide and consist of few layers, as observed by transmission electron microscopy. The produced nanoribbons exhibit different chiralities, as observed by high resolution transmission electron microscopy. This method is able to provide graphene nanoribbons with atomically smooth edges which could be used in various applications including sensors, gas adsorption materials, composite fillers, among others.
Abstract: The effect of variable chemical reaction on heat and mass transfer characteristics over unsteady stretching surface embedded in a porus medium is studied. The governing time dependent boundary layer equations are transformed into ordinary differential equations containing chemical reaction parameter, unsteadiness parameter, Prandtl number and Schmidt number. These equations have been transformed into a system of first order differential equations. MATHEMATICA has been used to solve this system after obtaining the missed initial conditions. The velocity gradient, temperature, and concentration profiles are computed and discussed in details for various values of the different parameters.
Abstract: This paper presents a new technique for generating sets of synthetic classifiers to evaluate abstract-level combination methods. The sets differ in terms of both recognition rates of the individual classifiers and degree of similarity. For this purpose, each abstract-level classifier is considered as a random variable producing one class label as the output for an input pattern. From the initial set of classifiers, new slightly different sets are generated by applying specific operators, which are defined at the purpose. Finally, the sets of synthetic classifiers have been used to estimate the performance of combination methods for abstract-level classifiers. The experimental results demonstrate the effectiveness of the proposed approach.
Abstract: This paper presents a new method to detect high impedance faults in radial distribution systems. Magnitudes of third and fifth harmonic components of voltages and currents are used as a feature vector for fault discrimination. The proposed methodology uses a learning vector quantization (LVQ) neural network as a classifier for identifying high impedance arc-type faults. The network learns from the data obtained from simulation of a simple radial system under different fault and system conditions. Compared to a feed-forward neural network, a properly tuned LVQ network gives quicker response.
Abstract: An influence of intranasal combined injection of live
cold-adapted influenza vaccine with chitosan derivatives as adjuvants
on the subpopulation structure of mononuclear leukocytes of mouse
spleen which reflects the orientation of the immune response was
studied. It is found that the inclusion of chitosan preparations
promotes activation of cellular-level of immune response.
Abstract: Beginning from the creator of integro-differential
equations Volterra, many scientists have investigated these
equations. Classic method for solving integro-differential
equations is the quadratures method that is successfully applied up
today. Unlike these methods, Makroglou applied hybrid methods
that are modified and generalized in this paper and applied to the
numerical solution of Volterra integro-differential equations. The
way for defining the coefficients of the suggested method is also
given.
Abstract: Due to dynamic evolution, the ability of a
manufacturing technology to produce a special product is changing.
Therefore, it is essential to monitor the established techniques and
processes to detect whether a company-s production will fit future
circumstances. Concerning the manufacturing technology planning
process, companies must decide when to change to a new technology
for maintaining and increasing competitive advantages. In this
context, the maturity assessment of the focused technologies is
crucial. This article presents an approach for defining the maturity of
a manufacturing technology from a strategic point of view. The
concept is based on the approach of technology readiness level
(TRL) according to NASA (National Aeronautics and Space
Administration), but also includes dynamic changes. Therefore, the
model takes into account the concept of the technology life cycle.
Furthermore, it enables a company to estimate the ideal date for
implementation of a new manufacturing technology.
Abstract: In Data mining, Fuzzy clustering algorithms have
demonstrated advantage over crisp clustering algorithms in dealing
with the challenges posed by large collections of vague and uncertain
natural data. This paper reviews concept of fuzzy logic and fuzzy
clustering. The classical fuzzy c-means algorithm is presented and its
limitations are highlighted. Based on the study of the fuzzy c-means
algorithm and its extensions, we propose a modification to the cmeans
algorithm to overcome the limitations of it in calculating the
new cluster centers and in finding the membership values with
natural data. The efficiency of the new modified method is
demonstrated on real data collected for Bhutan-s Gross National
Happiness (GNH) program.
Abstract: Axial Flux Permanent Magnet (AFPM) Machines require effective cooling due to their high power density. The detrimental effects of overheating such as degradation of the insulation materials, magnets demagnetization, and increase of Joule losses are well known. This paper describes the CFD simulations performed on a test rig model of an air cooled Axial Flux Permanent Magnet (AFPM) generator built at Durham University to identify the temperatures and heat transfer coefficient on the stator. The Reynolds Averaged Navier-Stokes and the Energy equations are solved and the flow pattern and heat transfer developing inside the machine are described. The Nusselt number on the stator surfaces has been found. The dependency of the heat transfer on the flow field is described temperature field obtained. Tests on an experimental are undergoing in order to validate the CFD results.
Abstract: This paper describes the design and modeling
procedure of a novel 5-phase segment type switched reluctance motor
(ST-SRM) under simultaneous two-phase (bipolar) excitation of
windings. The rotor cores of ST-SRM are embedded in an aluminum
block as well as to improve the performance characteristics. The
magnetic circuit of the produced ST-SRM is constructed so that the
magnetic flux paths are short and exclusive to each phase, thereby
minimizing the commutation switching and eddy current losses in the
laminations. The design and simulation principles presented apply
primarily to conventional SRM and ST-SRM. It is proved that the
novel 5-phase switched reluctance motor under two-phase excitation
is superior among the criteria used in comparison. The purposed
model is particularly well suited for high torque and weight
constrained applications such as automobiles, aerospace and military
applications.
Abstract: This study assessed fish marketing as panacea towards
sustainable agriculture in Ogun State, Nigeria. Multi-stage sampling
technique was used in the selection of 150 fish marketers for this
study. Descriptive statistics were used for the objectives while
Product Pearson Moment Correlation was used to test the hypothesis.
Result of the findings revealed that the mean age of the respondents
was 38.60 years. Majority (93.33%) of the respondents had
acceptable levels of formal education. Many (44.00%) of the
respondents had spent 1-5 years in fish marketing. The average
quantity of fish sold in a day was 94.10kg. However, efficient fish
marketing were hindered by inadequate processing equipment,
storage rooms and ice holding facilities (86.67%). There was a
significant relationship between socio-economic characteristics and
profit realized from fish marketing (p < 0.05). It was recommended
that storage and warehousing facilities should be provided to the fish
marketers in the study area.
Abstract: Solution of some practical problems is reduced to the
solution of the integro-differential equations. But for the numerical
solution of such equations basically quadrature methods or its
combination with multistep or one-step methods are used. The
quadrature methods basically is applied to calculation of the integral
participating in right hand side of integro-differential equations. As
this integral is of Volterra type, it is obvious that at replacement with
its integrated sum the upper limit of the sum depends on a current
point in which values of the integral are defined. Thus we receive the
integrated sum with variable boundary, to work with is hardly.
Therefore multistep method with the constant coefficients, which is
free from noted lack and gives the way for finding it-s coefficients is
present.
Abstract: Generalized Center String (GCS) problem are
generalized from Common Approximate Substring problem
and Common substring problems. GCS are known to be
NP-hard allowing the problems lies in the explosion of
potential candidates. Finding longest center string without
concerning the sequence that may not contain any motifs is
not known in advance in any particular biological gene
process. GCS solved by frequent pattern-mining techniques
and known to be fixed parameter tractable based on the
fixed input sequence length and symbol set size. Efficient
method known as Bpriori algorithms can solve GCS with
reasonable time/space complexities. Bpriori 2 and Bpriori
3-2 algorithm are been proposed of any length and any
positions of all their instances in input sequences. In this
paper, we reduced the time/space complexity of Bpriori
algorithm by Constrained Based Frequent Pattern mining
(CBFP) technique which integrates the idea of Constraint
Based Mining and FP-tree mining. CBFP mining technique
solves the GCS problem works for all center string of any
length, but also for the positions of all their mutated copies
of input sequence. CBFP mining technique construct TRIE
like with FP tree to represent the mutated copies of center
string of any length, along with constraints to restraint
growth of the consensus tree. The complexity analysis for
Constrained Based FP mining technique and Bpriori
algorithm is done based on the worst case and average case
approach. Algorithm's correctness compared with the
Bpriori algorithm using artificial data is shown.
Abstract: The field of polymeric biomaterials is very important
from the socio-economical viewpoint. Synthetic carbohydrate
polymers are being increasingly investigated as biodegradable,
biocompatible and biorenewable materials. The aim of this study was
to synthesize and characterize some derivatives based on D-mannose.
D-mannose was chemically modified to obtain 1-O-allyl-2,3:5,6-di-
O-isopropylidene-D-mannofuranose and 1-O-(2-,3--epoxy-propyl)-
2,3:5,6-di-O-isopropylidene-D-mannofuranose.
The chemical structure of the resulting compounds was
characterized by FT-IR and NMR spectroscopy, and by HPLC-MS.
Abstract: Young patients suffering from Cerebral Palsy are
facing difficult choices concerning heavy surgeries. Diagnosis settled
by surgeons can be complex and on the other hand decision for
patient about getting or not such a surgery involves important
reflection effort. Proposed software combining prediction for
surgeries and post surgery kinematic values, and from 3D model
representing the patient is an innovative tool helpful for both patients
and medicine professionals. Beginning with analysis and
classification of kinematics values from Data Base extracted from
gait analysis in 3 separated clusters, it is possible to determine close
similarity between patients. Prediction surgery best adapted to
improve a patient gait is then determined by operating a suitable
preconditioned neural network. Finally, patient 3D modeling based
on kinematic values analysis, is animated thanks to post surgery
kinematic vectors characterizing the closest patient selected from
patients clustering.
Abstract: TiO2 nanoparticles were synthesized by hydrothermal
method at 180°C from TiOSO4 aqueous solution with1m/l
concentration. The obtained products were coated with silica by
means of a seeded polymerization technique for a coating time of
1440 minutes to obtain well defined TiO2@SiO2 core-shell structure.
The uncoated and coated nanoparticles were characterized by using
X-Ray diffraction technique (XRD), Fourier Transform Infrared
Spectroscopy (FT-IR) to study their physico-chemical properties.
Evidence from XRD and FTIR results show that SiO2 is
homogenously coated on the surface of titania particles. FTIR spectra
show that there exists an interaction between TiO2 and SiO2 and
results in the formation of Ti-O-Si chemical bonds at the interface of
TiO2 particles and SiO2 coating layer. The non linear optical limiting
properties of TiO2 and TiO2@SiO2 nanoparticles dispersed in
ethylene glycol were studied at 532nm using 5ns Nd:YAG laser
pulses. Three-photon absorption is responsible for optical limiting
characteristics in these nanoparticles and it is seen that the optical
nonlinearity is enhanced in core-shell structures when compared with
single counterparts. This effective three-photon type absorption at
this wavelength, is of potential application in fabricating optical
limiting devices.
Abstract: The investigation results of high-density hydrogen
heating by high-current electric arc are presented at initial pressure
from 5 MPa to 160 MPa with current amplitude up to 1.6 MA and
current rate of rise 109-1011 A/s. When changing the initial pressure
and current rate of rise, channel temperature varies from several
electronvolts to hundreds electronvolts. Arc channel radius is several
millimeters. But the radius of the discharge chamber greater than the
radius of the arc channel on approximately order of magnitude. High
efficiency of gas heating is caused by radiation absorption of
hydrogen surrounding the arc. Current channel consist from vapor of
the initiating wire. At current rate of rise of 109 A/s and relatively
small current amplitude gas heating occurs due to radiation
absorption in the band transparency of hydrogen by the wire vapours
with photon energies less than 13.6 eV. At current rate of rise of
1011 A/s gas heating is due to hydrogen absorption of soft X-rays
from discharge channel.