Abstract: We proposed the use of a Toda-Rayleigh ring as a
central pattern generator (CPG) for controlling hexapodal robots. We
show that the ring composed of six Toda-Rayleigh units coupled to
the limb actuators reproduces the most common hexapodal gaits. We
provide an electrical circuit implementation of the CPG and test our
theoretical results obtaining fixed gaits. Then we propose a method
of incorporation of the actuator (motor) dynamics in the CPG. With
this approach we close the loop CPG – environment – CPG, thus
obtaining a decentralized model for the leg control that does not
require higher level intervention to the CPG during locomotion in
a nonhomogeneous environments. The gaits generated by the novel
CPG are not fixed, but adapt to the current robot bahvior.
Abstract: An alternative approach to the use of Discrete Fourier
Transform (DFT) for Magnetic Resonance Imaging (MRI) reconstruction
is the use of parametric modeling technique. This method
is suitable for problems in which the image can be modeled by
explicit known source functions with a few adjustable parameters.
Despite the success reported in the use of modeling technique as an
alternative MRI reconstruction technique, two important problems
constitutes challenges to the applicability of this method, these are
estimation of Model order and model coefficient determination. In
this paper, five of the suggested method of evaluating the model
order have been evaluated, these are: The Final Prediction Error
(FPE), Akaike Information Criterion (AIC), Residual Variance (RV),
Minimum Description Length (MDL) and Hannan and Quinn (HNQ)
criterion. These criteria were evaluated on MRI data sets based on the
method of Transient Error Reconstruction Algorithm (TERA). The
result for each criterion is compared to result obtained by the use of a
fixed order technique and three measures of similarity were evaluated.
Result obtained shows that the use of MDL gives the highest measure
of similarity to that use by a fixed order technique.
Abstract: This paper investigates the influence of various
parameters on the behaviour of water droplets on polymeric surfaces
under high electric fields. An inclined plane test was carried out to
understand the droplet behaviour in strong electric field. Parameters
such as water droplet conductivity, droplet volume, polymeric
surface roughness and droplet positioning with respect to the
electrodes were studied. The flashover voltage is affected by all
aforementioned parameters. The droplet positioning is in some cases
more vital than the droplet volume. Surface damages were analysed
using Scanning Electron Microscopy (SEM) studies and by Energy
dispersive X-ray Analysis (EDAX). It is observes that magnitude of
discharge have direct influence on amount of surface da
Abstract: In the last years numerous applications of Human-
Computer Interaction have exploited the capabilities of Time-of-
Flight cameras for achieving more and more comfortable and precise
interactions. In particular, gesture recognition is one of the most active
fields. This work presents a new method for interacting with a virtual
object in a 3D space. Our approach is based on the fusion of depth
data, supplied by a ToF camera, with color information, supplied
by a HD webcam. The hand detection procedure does not require
any learning phase and is able to concurrently manage gestures of
two hands. The system is robust to the presence in the scene of
other objects or people, thanks to the use of the Kalman filter for
maintaining the tracking of the hands.
Abstract: Electromagnetic flowmeters with DC excitation are used for a wide range of fluid measurement tasks, but are rarely found in dosing applications with short measurement cycles due to the achievable accuracy. This paper will identify a number of factors that influence the accuracy of this sensor type when used for short-term measurements. Based on these results a new signal-processing algorithm will be described that overcomes the identified problems to some extend. This new method allows principally a higher accuracy of electromagnetic flowmeters with DC excitation than traditional methods.
Abstract: The paper is included within the framework of a
complex research program, which was initiated from the hypothesis
arguing on the existence of a correlation between pineal indolic and
peptide hormones and the somatic development rhythm, including
thus the epithalamium-epiphysis complex involvement. At birds,
pineal gland contains a circadian oscillator, playing a main role in the
temporal organization of the cerebral functions. The secretion of
pineal indolic hormones is characterized by a high endogenous
rhythmic alternation, modulated by the light/darkness (L/D)
succession and by temperature as well. The research has been carried
out using 100 chicken broilers - “Ross" commercial hybrid,
randomly allocated in two experimental batches: Lc batch, reared
under a 12L/12D lighting schedule and Lexp batch, which was photic
pinealectomised through continuous exposition to light (150 lux, 24
hours, 56 days). Chemical and physical features of the meat issued
from breast fillet and thighs muscles have been studied, determining
the dry matter, proteins, fat, collagen, salt content and pH value, as
well. Besides the variations of meat chemical composition in relation
with lighting schedule, other parameters have been studied: live
weight dynamics, feed intake and somatic development degree. The
achieved results became significant since chickens have 7 days of
age, some variations of the studied parameters being registered,
revealing that the pineal gland physiologic activity, in relation with
the lighting schedule, could be interpreted through the monitoring of
the somatic development technological parameters, usually studied
within the chicken broilers rearing aviculture practice.
Abstract: The results of an experimental study of the process of
convective and boiling heat transfer in the vessel with stirrer for
smooth and rough ring-shaped pipes are presented. It is established
that creation of two-dimensional artificial roughness on the heated
surface causes the essential (~100%) intensification of convective
heat transfer. In case of boiling the influence of roughness appears on
the initial stage of boiling and in case of fully developed nucleate
boiling there was no intensification of heat transfer. The similitude
equation for calculating convective heat transfer coefficient, which
generalizes well experimental data both for the smooth and the rough
surfaces is proposed.
Abstract: This paper solves the Non Linear Schrodinger
Equation using the Split Step Fourier method for modeling an optical
fiber. The model generates a complex wave of optical pulses and
using the results obtained two graphs namely Loss versus
Wavelength and Dispersion versus Wavelength are generated. Taking
Chromatic Dispersion and Polarization Mode Dispersion losses into
account, the graphs generated are compared with the graphs
formulated by JDS Uniphase Corporation which uses standard values
of dispersion for optical fibers. The graphs generated when compared
with the JDS Uniphase Corporation plots were found to be more or
less similar thus verifying that the model proposed is right.
MATLAB software was used for doing the modeling.
Abstract: In this paper we present an energy efficient match-line
(ML) sensing scheme for high-speed ternary content-addressable
memory (TCAM). The proposed scheme isolates the sensing unit of
the sense amplifier from the large and variable ML capacitance. It
employs feedback in the sense amplifier to successfully detect a
match while keeping the ML voltage swing low. This reduced voltage
swing results in large energy saving. Simulation performed using
130nm 1.2V CMOS logic shows at least 30% total energy saving in
our scheme compared to popular current race (CR) scheme for
similar search speed. In terms of speed, dynamic energy, peak power
consumption and transistor count our scheme also shows better
performance than mismatch-dependant (MD) power allocation
technique which also employs feedback in the sense amplifier.
Additionally, the implementation of our scheme is simpler than CR
or MD scheme because of absence of analog control voltage and
programmable delay circuit as have been used in those schemes.
Abstract: Inspired by the recent experiments [1]-[3] indicating
unusual doubly magic nucleus 24O which lies just at the neutron
drip-line and encouraged by the success of our relativistic mean-field
(RMF) plus state dependent BCS approach for the description of
the ground state properties of the drip-line nuclei [23]-[27], we have
further employed this approach, across the entire periodic table, to
explore the unusual shell closures in exotic nuclei. In our RMF+BCS
approach the single particle continuum corresponding to the RMF is
replaced by a set of discrete positive energy states for the calculations
of pairing energy. Detailed analysis of the single particle spectrum,
pairing energies and densities of the nuclei predict the unusual proton
shell closures at Z = 6, 14, 16, 34, and unusual neutron shell closures
at N = 6, 14, 16, 34, 40, 70, 112.
Abstract: Electricity market activities and a growing demand for electricity have led to heavily stressed power systems. This requires operation of the networks closer to their stability limits. Power system operation is affected by stability related problems, leading to unpredictable system behavior. Voltage stability refers to the ability of a power system to sustain appropriate voltage levels through large and small disturbances. Steady-state voltage stability is concerned with limits on the existence of steady-state operating points for the network. FACTS devices can be utilized to increase the transmission capacity, the stability margin and dynamic behavior or serve to ensure improved power quality. Their main capabilities are reactive power compensation, voltage control and power flow control. Among the FACTS controllers, Static Var Compensator (SVC) provides fast acting dynamic reactive compensation for voltage support during contingency events. In this paper, voltage stability assessment with appropriate representations of tap-changer transformers and SVC is investigated. Integrating both of these devices is the main topic of this paper. Effect of the presence of tap-changing transformers on static VAR compensator controller parameters and ratings necessary to stabilize load voltages at certain values are highlighted. The interrelation between transformer off nominal tap ratios and the SVC controller gains and droop slopes and the SVC rating are found. P-V curves are constructed to calculate loadability margins.
Abstract: An HPLC-UV analytical method was developed to
determine ethylenediaminetetraacetic acid (EDTA) in dairy
wastewater and surface water. The optimizing separation was achieved
by reversed–phase ion-pair liquid chromatography on a C18 column
using methanol as mobile phase solvent, tetrabutylammonium bromide
as the ion-pair reagent in pH 3.3 formate buffer solution at a flow rate
of 0.9 mL min-1 with a UV detector at 265 nm. No interference of Ca,
Mg or NO3
- was detected. Method performance was evaluated in terms
of linearity, repeatability and reproducibility. The method detection
limit was 5 μg L-1. The contents of EDTA in dairy effluents were 72 ~
261 μg L-1 at a large dairy site. A change of EDTA concentration was
observed downstream of the dairy effluent discharge, but this was well
under the predicted no effect concentration for aquatic ecosystem.
Abstract: In the fifteenth century, the Malacca Empire emerged
as the centre of Islamic civilization in the Malay Archipelago. The
history had been recorded in Sulalat Al-Salatin, an important literary
source about the genealogy of all Kings in Malacca. The objective of
this study was to analyze the understanding of sayings from Prophet
Muhammad among Malays in Malacca during the fifteenth century
through all of the hadith quoted in Sulalat Al-Salatin. This study used
content analysis methodology to validate the sayings where all of
them were critically analyzed and compared with the classical hadith
sources from prominent Muslim scholars. As a result, only two out of
the four quotations were considered as authentic sayings of Prophet
Muhammad. This study also showed the importance of the palace as
the centre of the Islamic education system and the role played by
Muslim preachers from outside of Malacca to propagate Islam in
Malacca.
Abstract: The purpose of the present study was to evaluate the
epidemiology of waterborne diarrhoeal among children aged 6-36
months old in Busia town, western Kenya. The study was carried out
between Feb. 2008 and Feb. 2010. Cases of diarrhoea reported in 385
households were linked to household water handling practices. A
mother with a child of 6-36 months old was also included in the
study. Diarrhoea prevalence among children 6-36 months was 16.7%
in Busia town, Bwamani (19.6%) and Mayenje (10.6%) clustered in
Mayenje sub-location reported the highest and the lowest prevalence
of diarrhoea. There was a positive correlation between the prevalence
of diarrhoea in children and the level of the mother-s education,
29.9% (n= 100). Diarrhoea cases decreased in range from 35.5% (n
=102) to 4.8% (n= 16), corresponding to increase in age from 6-35
months on average. In conclusion, prevalence of diarrhoea in
children of 6-36 months old was 16.7% in Busia town. This was
higher in children whose mother-s age was below 18 years and with
low level of education, the rate decreased with increase in age of
children. Prevalence of diarrhoea in children aged 6-36months in
households was higher in children aged 6-17 and 36 months and
whose mothers were less educated and fell between the ages of 18-24
years. The Influence of human activities at the main source of
drinking water on the prevalence of diarrhoea in these children was
insignificant.
Abstract: Network on a chip (NoC) has been proposed as a viable solution to counter the inefficiency of buses in the current VLSI on-chip interconnects. However, as the silicon chip accommodates more transistors, the probability of transient faults is increasing, making fault tolerance a key concern in scaling chips. In packet based communication on a chip, transient failures can corrupt the data packet and hence, undermine the accuracy of data communication. In this paper, we present a comparative analysis of transient fault tolerant techniques including end-to-end, node-by-node, and stochastic communication based on flooding principle.
Abstract: The rapid expansion of the web is causing the
constant growth of information, leading to several problems such as
increased difficulty of extracting potentially useful knowledge. Web
content mining confronts this problem gathering explicit information
from different web sites for its access and knowledge discovery.
Query interfaces of web databases share common building blocks.
After extracting information with parsing approach, we use a new
data mining algorithm to match a large number of schemas in
databases at a time. Using this algorithm increases the speed of
information matching. In addition, instead of simple 1:1 matching,
they do complex (m:n) matching between query interfaces. In this
paper we present a novel correlation mining algorithm that matches
correlated attributes with smaller cost. This algorithm uses Jaccard
measure to distinguish positive and negative correlated attributes.
After that, system matches the user query with different query
interfaces in special domain and finally chooses the nearest query
interface with user query to answer to it.
Abstract: Wireless Sensor Networks consist of small battery
powered devices with limited energy resources. once deployed, the
small sensor nodes are usually inaccessible to the user, and thus
replacement of the energy source is not feasible. Hence, One of the
most important issues that needs to be enhanced in order to improve
the life span of the network is energy efficiency. to overcome this
demerit many research have been done. The clustering is the one of
the representative approaches. in the clustering, the cluster heads
gather data from nodes and sending them to the base station. In this
paper, we introduce a dynamic clustering algorithm using genetic
algorithm. This algorithm takes different parameters into
consideration to increase the network lifetime. To prove efficiency of
proposed algorithm, we simulated the proposed algorithm compared
with LEACH algorithm using the matlab
Abstract: The adaptive backstepping controller for inverted pendulum is designed by using the general motion control model. Backstepping is a novel nonlinear control technique based on the Lyapunov design approach, used when higher derivatives of parameter estimation appear. For easy parameter adaptation, the mathematical model of the inverted pendulum converted into the motion control model. This conversion is performed by taking functions of unknown parameters and dynamics of the system. By using motion control model equations, inverted pendulum is simulated without any information about not only parameters but also measurable dynamics. Also these results are compare with the adaptive backstepping controller which extended with integral action that given from [1].
Abstract: The use of a Geographic Information System (GIS) in
roadway lighting to show the state of street-lighting and nighttime
accident is demonstrated. Geographical maps were generated
showing colored streets based on how much of the street's length is
illuminated. The night to daytime accidents ratio at intersections
were found along with the state of lighting at those intersections.
The result is a method to show the state of street-lighting at roads and
intersections and a quick guide for decision makers to implement
strategies for better street-lighting to reduce night time traffic
accidents in a particular district.
Abstract: Aiming the application of localized hyperthermia, a
magnetic induction system with new approaches is proposed. The techniques in this system for improving the effectiveness of localized hyperthermia are that using magnetic circuit and the multiple-coil array instead of a giant coil for generating magnetic field. Specially, amorphous metal is adopted as the material of magnetic circuit. Detail
design parameters of hardware are well described. Simulation tool is
employed for this work and experiment result is reported as well.