Abstract: An exact algorithm for a n-link manipulator movement amidst arbitrary unknown static obstacles is presented.
The algorithm guarantees the reaching of a target configuration of the manipulator in a finite number of steps. The algorithm is
reduced to a finite number of calls of a subroutine for planning a trajectory in the presence of known forbidden states. The polynomial approximation algorithm which is used as the subroutine is presented. The results of the exact algorithm
implementation for the control of a seven link (7 degrees of
freedom, 7DOF) manipulator are given.
Abstract: This paper provides an introduction into the
evolution of information and communication technology and illustrates its usage in the work domain. The paper is sub-divided into two parts. The first part gives an overview over the different
phases of information processing in the work domain. It starts by
charting the past and present usage of computers in work
environments and shows current technological trends, which are likely to influence future business applications. The second part
starts by briefly describing, how the usage of computers changed business processes in the past, and presents first Ambient
Intelligence applications based on identification and localization
information, which are already used in the production and retail sector. Based on current systems and prototype applications, the
paper gives an outlook of how Ambient Intelligence technologies could change business processes in the future.
Abstract: This study aims to assess the environmental hazards
from radon exhalation rate in the soil samples in selected locations in
Iraqi Kurdistan, using passive (CR-39NTDs) and active (RAD7)
detecting method. Radon concentration, effective radium content and
radon exhalation rate were estimated in soil samples that collected at
the depth level of 30 cm inside 124 houses. The results show that the
emanation rate for radon gas was variation from location to other,
depending on the geological formation. Most health risks come from
emanation of radon and its daughter due to its contribution for indoor
radon, so the results showed that there is a linear relationship
between the ratio of soil and indoor radon concentration (CSoil Rn222/
Cindoor Rn222) and the effective radium content in soil samples. The
results show that radon concentration has high and low values in
Hajyawa city and Er. Tyrawa Qr, respectively. A comparison
between our results with that mentioned in international reports was
done.
Abstract: Grid environments consist of the volatile integration
of discrete heterogeneous resources. The notion of the Grid is to
unite different users and organisations and pool their resources into
one large computing platform where they can harness, inter-operate,
collaborate and interact. If the Grid Community is to achieve this
objective, then participants (Users and Organisations) need to be
willing to donate or share their resources and permit other
participants to use their resources. Resources do not have to be
shared at all times, since it may result in users not having access to
their own resource. The idea of reward-based computing was
developed to address the sharing problem in a pragmatic manner.
Participants are offered a reward to donate their resources to the
Grid. A reward may include monetary recompense or a pro rata share
of available resources when constrained. This latter point may imply
a quality of service, which in turn may require some globally agreed
reservation mechanism. This paper presents a platform for economybased
computing using the WebCom Grid middleware. Using this
middleware, participants can configure their resources at times and
priority levels to suit their local usage policy. The WebCom system
accounts for processing done on individual participants- resources
and rewards them accordingly.
Abstract: With the advent of new technologies, factors related to
mental health in e-workspaces are taken into consideration more than
ever. Studies have revealed that one of the factors affecting the
productivity of employees in an organization is occupational stress.
Another influential factor is quality of work life which is important in
the improvement of work environment conditions and organizational
efficiency. In order to uncover the quality of work life level and to
investigate the impact of occupational stress on quality of work life
among information technology employees in Iran, a cross-sectional
study design was applied and data were gathered using a
questionnaire validated by a group of experts. The results of the study
showed that information technology staffs have average level of both
occupational stress and quality of work life. Furthermore, it was
found that occupational stress has a negative impact on quality of
work life. In addition, the same results were observed for role
ambiguity, role conflict, role under-load, work-pace, work
repetitiveness and tension toward quality of work life. No significant
relation was found between role overload and quality of work life.
Finally, directions for future research are proposed and discussed.
Abstract: The objective of this paper is to investigate a new
approach based on the idea of pictograms for food portion size. This
approach adopts the model of the United States Pharmacopeia- Drug
Information (USP-DI). The representation of each food portion size
composed of three parts: frame, the connotation of dietary portion
sizes and layout. To investigate users- comprehension based on this
approach, two experiments were conducted, included 122 Taiwanese
people, 60 male and 62 female with ages between 16 and 64 (divided
into age groups of 16-30, 31-45 and 46-64). In Experiment 1, the mean
correcting rate of the understanding level of food items is 48.54%
(S.D.= 95.08) and the mean response time 2.89sec (S.D.=2.14). The
difference on the correct rates for different age groups is significant
(P*=0.00
Abstract: In this paper, a worm-like micro robot designed for inpipe
application with intelligent active force control (AFC) capability
is modelled and simulated. The motion of the micro robot is based on
an impact drive mechanism (IDM) that is actuated using piezoelectric
device. The trajectory tracking performance of the modelled micro
robot is initially experimented via a conventional proportionalintegral-
derivative (PID) controller in which the dynamic response of
the robot system subjected to different input excitations is
investigated. Subsequently, a robust intelligent method known as
active force control with fuzzy logic (AFCFL) is later incorporated
into the PID scheme to enhance the system performance by
compensating the unwanted disturbances due to the interaction of the
robot with its environment. Results show that the proposed AFCFL
scheme is far superior than the PID control counterpart in terms of
the system-s tracking capability in the wake of the disturbances.
Abstract: The growing health hazardous impact of arsenic (As)
contamination in environment is the impetus of the present
investigation. Application of lactic acid bacteria (LAB) for the
removal of toxic and heavy metals from water has been reported.
This study was performed in order to isolate and characterize the Asresistant
LAB from mud and sludge samples for using as efficient As
uptaking probiotic. Isolation of As-resistant LAB colonies was
performed by spread plate technique using bromocresol purple
impregnated-MRS (BP-MRS) agar media provided with As @ 50
μg/ml. Isolated LAB were employed for probiotic characterization
process, acid and bile tolerance, lactic acid production, antibacterial
activity and antibiotic tolerance assays. After As-resistant and
removal characterizations, the LAB were identified using 16S rDNA
sequencing. A total of 103 isolates were identified as As-resistant
strains of LAB. The survival of 6 strains (As99-1, As100-2, As101-3,
As102-4, As105-7, and As112-9) was found after passing through the
sequential probiotic characterizations. Resistant pattern pronounced
hollow zones at As concentration >2000 μg/ml in As99-1, As100-2,
and As101-3 LAB strains, whereas it was found at ~1000 μg/ml in
rest 3 strains. Among 6 strains, the As uptake efficiency of As102-4
(0.006 μg/h/mg wet weight of cell) was higher (17 – 209%)
compared to remaining LAB. 16S rDNA sequencing data of 3 (As99-
1, As100-2, and As101-3) and 3 (As102-4, As105-7, and As112-9)
LAB strains clearly showed 97 to 99% (340 bp) homology to
Pediococcus dextrinicus and Pediococcus acidilactici, respectively.
Though, there was no correlation between the metal resistant and
removal efficiency of LAB examined but identified elevated As
removing LAB would probably be a potential As uptaking probiotic
agent. Since present experiment concerned with only As removal
from pure water, As removal and removal mechanism in natural
condition of intestinal milieu should be assessed in future studies.
Abstract: Data warehouse is a dedicated database used for querying and reporting. Queries in this environment show special characteristics such as multidimensionality and aggregation. Exploiting the nature of queries, in this paper we propose a query driven design framework. The proposed framework is general and allows a designer to generate a schema based on a set of queries.
Abstract: So much energy is used in high rise buildings to fulfill
the basic needs of users such as lighting and thermal comfort.
Malaysia has hot and humid climate, buildings especially high rise
buildings receive unnecessary solar radiation that cause more solar
heat gain. Energy use specially electricity consumption in high rise
buildings has increased. There have been growing concerns about
energy consumption and its effect on environment. Building, energy
and the environment are important issues that the designers should
consider to them. Self protected form is one of possible ways against
the impact of solar radiation in high rise buildings. The Energy
performance of building envelopes was investigated in term of the
Overall Thermal Transfer Value (OTTV ).In this paper, the amount
of OTTV reduction was calculated through OTTV Equations to
clear the effectiveness of self shading strategy on minimizing energy
consumption for cooling interior spaces in high rise buildings which
has considerable envelope areas against solar radiation. Also increasing
the optimum window area was investigated using self-shading
strategy in designing high rise buildings. As result, the significant
reduction in OTTV was shown based on WWR.In addition slight
increase was demonstrated in WWR that can influence on visible
comfort interior spaces.
Abstract: Internal combustion engines rejects 30-40% of the
energy supplied by fuel to the environment through exhaust gas. thus, there is a possibility for further significant improvement of efficiency with the utilization of exhaust gas energy and its conversion to mechanical energy or electrical energy. The Thermo-Electric
Generator (TEG) will be located in the exhaust system and will make use of an energy flow between the warmer exhaust gas and the external environment. Predict to th optimum position of temperature
distribution and the performance of TEG through numerical analysis.
The experimental results obtained show that the power output significantly increases with the temperature difference between cold
and hot sides of a thermoelectric generator.
Abstract: In sport, human resources management gives special
attention to method of applying volunteers, their maintenance, and
participation of volunteers with each other and management
approaches for better operation of events celebrants. The recognition
of volunteers- characteristics and motives is important to notice,
because it makes the basis of their participation and commitment at
sport environment. The motivation and commitment of 281
volunteers were assessed using the organizational commitment scale,
motivation scale and personal characteristics questionnaire.The
descriptive results showed that; 64% of volunteers were women with
age average 21/24 years old. They were physical education student,
single (71/9%), without occupation (53%) and with average of 5
years sport experience. Their most important motivation was career
factor and the most important commitment factor was normative
factor. The results of examining the hypothesized showed that; age,
sport experience and education are effective in the amount of
volunteers- commitment. And the motive factors such as career,
material, purposive and protective factors also have the power to
predict the amount of sports volunteers- commitment value.
Therefore it is recommended to provide possible opportunities for
volunteers and carrying out appropriate instructional courses by
events executive managers.
Abstract: Aquatic and semi aquatic birds as a group are suited to
feed and breed in environments in which water forms a fundamental
part. These birds are biological indicator in aquatic environment,
because these birds belong to the top level of food chain in aquatic
ecosystems. There are 61 species in 14 families of aquatic and semi
aquatic birds in Iran. The birds of the Sattarkhan Lake belong to 16
species in 8 families which include 26.2 percent of total Aquatic and
semi aquatic bird species and 57% of Aquatic and semi aquatic bird's
family of Iran. Study was carried out monthly at Sattarkhan Lake
show the existence of Phalacrocorax carbo, Ardea cinerea, Egretta
alba, Egretta garzetta, Bubulcus ibis, Botaurus stellaris, Sterna
hirundo, Chlidonias leucopterus, Larus minutus, Larus argentatus,
Larus ridibunbus, Alcedo atthis, Ciconia ciconia, Plegadis
falcinellus, Circus aeruginosus, Corvus frugilegus
Abstract: The growing outsourcing of logistics services
resulting from the ongoing current in firms of costs
reduction/increased efficiency means that it is becoming more and
more important for the companies doing the outsourcing to carry out
a proper evaluation.
The multiple definitions and measures of logistics service
performance found in research on the topic create a certain degree of
confusion and do not clear the way towards the proper measurement
of their performance. Do a model and a specific set of indicators exist
that can be considered appropriate for measuring the performance of
logistics services outsourcing in industrial environments? Are said
indicators in keeping with the objectives pursued by outsourcing? We
aim to answer these and other research questions in the study we have
initiated in the field within the framework of the international High
Performance Manufacturing (HPM) project of which this paper
forms part.
As the first stage of this research, this paper reviews articles
dealing with the topic published in the last 15 years with the aim of
detecting the models most used to make this measurement and
determining which performance indicators are proposed as part of
said models and which are most used. The first steps are also taken in
determining whether these indicators, financial and operational, cover
the aims that are being pursued when outsourcing logistics services.
The findings show there is a wide variety of both models and
indicators used. This would seem to testify to the need to continue
with our research in order to try to propose a model and a set of
indicators for measuring the performance of logistics services
outsourcing in industrial environments.
Abstract: This paper describes a 3D modeling system in
Augmented Reality environment, named 3DARModeler. It can be
considered a simple version of 3D Studio Max with necessary
functions for a modeling system such as creating objects, applying
texture, adding animation, estimating real light sources and casting
shadows. The 3DARModeler introduces convenient, and effective
human-computer interaction to build 3D models by combining both
the traditional input method (mouse/keyboard) and the tangible input
method (markers). It has the ability to align a new virtual object with
the existing parts of a model. The 3DARModeler targets nontechnical
users. As such, they do not need much knowledge of
computer graphics and modeling techniques. All they have to do is
select basic objects, customize their attributes, and put them together
to build a 3D model in a simple and intuitive way as if they were
doing in the real world. Using the hierarchical modeling technique,
the users are able to group several basic objects to manage them as a
unified, complex object. The system can also connect with other 3D
systems by importing and exporting VRML/3Ds Max files. A
module of speech recognition is included in the system to provide
flexible user interfaces.
Abstract: In the globalized e-learning environment, students coming from different cultures and countries have different characteristics and require different support designed for their approaches to study and learning styles. This paper explores the ways in which cultural background influences students- approaches to study and learning styles. Participants in the study consisted of 131 eastern students and 54 western students from an Australian university. The students were tested using the Study Process Questionnaire (SPQ) for assessing their approaches to study and the Index of Learning Styles Questionnaire (ILS) for assessing their learning styles. The results of the study led to a set of principles being proposed to guide personalization of e-learning system design on the basis of cultural differences.
Abstract: In this paper, frequency offset (FO) estimation schemes
robust to the non-Gaussian noise environments are proposed for
orthogonal frequency division multiplexing (OFDM) systems. First,
a maximum-likelihood (ML) estimation scheme in non-Gaussian
noise environments is proposed, and then, the complexity of the
ML estimation scheme is reduced by employing a reduced set of
candidate values. In numerical results, it is demonstrated that the
proposed schemes provide a significant performance improvement
over the conventional estimation scheme in non-Gaussian noise
environments while maintaining the performance similar to the
estimation performance in Gaussian noise environments.
Abstract: One of the most important problems in production planning of flexible manufacturing system (FMS) is machine tool selection and operation allocation problem that directly influences the production costs and times .In this paper minimizing machining cost, set-up cost and material handling cost as a multi-objective problem in flexible manufacturing systems environment are considered. We present a 0-1 integer linear programming model for the multiobjective machine tool selection and operation allocation problem and due to the large scale nature of the problem, solving the problem to obtain optimal solution in a reasonable time is infeasible, Paretoant colony optimization (P-ACO) approach for solving the multiobjective problem in reasonable time is developed. Experimental results indicate effectiveness of the proposed algorithm for solving the problem.
Abstract: This paper presents the investigation results of UV
measurement at different level of altitudes and the development of a
new portable instrument for measuring UV. The rapid growth of
industrial sectors in developing countries including Malaysia, brings
not only income to the nation, but also causes pollution in various
forms. Air pollution is one of the significant contributors to global
warming by depleting the Ozone layer, which would reduce the
filtration of UV rays. Long duration of exposure to high to UV rays
has many devastating health effects to mankind directly or indirectly
through destruction of the natural resources. This study aimed to
show correlation between UV and altitudes which indirectly can help
predict Ozone depletion. An instrument had been designed to
measure and monitors the level of UV. The instrument comprises of
two main blocks namely data logger and Graphic User Interface
(GUI). Three sensors were used in the data logger to detect changes
in the temperature, humidity and ultraviolet. The system has
undergone experimental measurement to capture data at two different
conditions; industrial area and high attitude area. The performance of
the instrument showed consistency in the data captured and the
results of the experiment drew a significantly high reading of UV at
high altitudes.
Abstract: Whilst there is growing evidence that activity across
the lifespan is beneficial for improved health, there are also many
changes involved with the aging process and subsequently the
potential for reduced indices of health. The nexus between all forms
of health, physical activity and aging is complex and has raised much
interest in recent times due to the realization that a multifaceted
approached is necessary in order to counteract a growing obesity
epidemic. By investigating age based trends within a population
adherring to competitive sport at older ages, further insight might be
gleaned to assist in understanding one of many factors influencing
this relationship. This study evaluated those sport psychological
constructs of health, physical fitness, mental health states, and social
dimension factors in sport that were associated with factors to
participate in sport and physical activity based on responses from the
2009 World Masters Games in Sydney. The sample consisted of
7846 athletes who competed at the games and who completed a 56
item sports participation survey using a 7-point Likert response (1 -
not important to 7 - very important). Questions focuses on factors
thought to promote participation, such as weight control, living
longer, improving mental health (self-esteem, mood states),
improving physical health and factors related to the athlete-s
competitive perspective. The most significant factors related to
participation with this cohort of masters athletes were the socializing
environment of sport, getting physically fit and improving
competitive personal best performances. Strategies to increase
participation in masters sport should focus on these factors as other
factors such as weight loss, improving mental health and living
longer were not identified as important determinates of sports
participation at the World Masters level.