Abstract: Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-like robot structure is
more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots.
However, the walking control for bipedal robots is a challenging task
due to their complex dynamics. Stable reference generation plays a very important role in control.
Linear Inverted Pendulum Model (LIPM) and the Zero Moment Point (ZMP) criterion are applied in a number of studies for stable
walking reference generation of biped walking robots. This paper follows this main approach too. We propose a natural and continuous ZMP reference trajectory for a stable and human-like walk. The ZMP reference trajectories move forward under the sole of the support foot when the robot body is supported by a single leg. Robot center of mass trajectory is obtained
from predefined ZMP reference trajectories by a Fourier series
approximation method. The Gibbs phenomenon problem common with Fourier approximations of discontinuous functions is avoided by employing continuous ZMP references. Also, these ZMP reference
trajectories possess pre-assigned single and double support phases,
which are very useful in experimental tuning work.
The ZMP based reference generation strategy is tested via threedimensional
full-dynamics simulations of a 12-degrees-of-freedom
biped robot model. Simulation results indicate that the proposed reference trajectory generation technique is successful.
Abstract: The purpose of this paper is to present the design and
instrumentation of a new benchmark multivariable nonlinear control
laboratory. The mathematical model of this system may be used to
test the applicability and performance of various nonlinear control
procedures. The system is a two degree-of-freedom robotic arm with
soft and hard (discontinuous) nonlinear terms. Two novel
mechanisms are designed to allow the implementation of adjustable
Coulomb friction and backlash.
Abstract: A statistical optimization was studied to design a media composition to produce optimum cellulolytic enzyme where palm oil mill effluent (POME) as a basal medium and filamentous fungus, Trichoderma reesei RUT-C30 were used in the liquid state bioconversion(LSB). 2% (w/v) total suspended solid, TSS, of the POME supplemented with 1% (w/v) cellulose, 0.5%(w/v) peptone and 0.02% (v/v) Tween 80 was estimated to produce the optimum CMCase activity of 18.53 U/ml through the statistical analysis followed by the faced centered central composite design(FCCCD). The probability values of cellulose (
Abstract: Using ab initio theoretical calculations, we present
analysis of fragmentation process. The analysis is performed in two
steps. The first step is calculation of fragmentation energies by ab
initio calculations. The second step is application of the energies to
kinetic description of process. The energies of fragments are
presented in this paper. The kinetics of fragmentation process can be
described by numerical models. The method for kinetic analysis is
described in this paper. The result - composition of fragmentation
products - will be calculated in future. The results from model can be
compared to the concentrations of fragments from mass spectrum.
Abstract: Operating a device at high power and high frequency
is a major problem because wall losses greatly reduce the efficiency
of the device. In the present communication, authors analytically
analyzed the dependence of ohmic/RF efficiency, the fraction of
output power with respect to the total power generated, of gyrotron
cavity structure on the conductivity of copper for the second
harmonic TE0,6 mode. This study shows a rapid fall in the RF
efficiency as the quality (conductivity) of copper degrades. Starting
with an RF efficiency near 40% at the conductivity of ideal copper
(5.8 x 107 S/m), the RF efficiency decreases (upto 8%) as the copper
quality degrades. Assuming conductivity half that of ideal copper the
RF efficiency as a function of diffractive quality factor, Qdiff, has
been studied. Here the RF efficiency decreases rapidly with
increasing diffractive Q. Ohmic wall losses as a function of
frequency for 460 GHz gyrotron cavity excited in TE0,6 mode has
also been analyzed. For 460 GHz cavity, the extracted power is
reduced to 32% of the generated power due to ohmic losses in the
walls of the cavity.
Abstract: This paper explain about analysis and design a business directory for micro-scale businesses, small and medium enterprises (SMEs). Business Directory, if implemented will facilitate and optimize the access of SMEs to ease suppliers access to marketing. Business Directory will be equipped with the power of geocoding, so each location can be easily viewed SMEs on the map. The map will be constructed by using the functionality of a webbased Google Maps API. The information presented in the form of multimedia that can be more interesting and interactive. The method used to achieve the goal are: observation; interviews; modeling and classifying business directory for SMEs.
Abstract: The primary aim of the e-government applications is
the fast citizen service and the accomplishment of governmental
functions. This paper discusses the knowledge management for egovernment
development in the needs and role. The paper focused
on analyzing the advantages of using knowledge management by
using the existing IT technologies to maximize the government
functions efficiency. The proposed new approach of providing
government services is based on using Knowledge management as a
part of e-government system.
Abstract: The multiindex Mittag-Leffler (M-L) function and the multiindex Dzrbashjan-Gelfond-Leontiev (D-G-L) differentiation and integration play a very pivotal role in the theory and applications of generalized fractional calculus. The object of this paper is to investigate the relations that exist between the Riemann-Liouville fractional calculus and multiindex Dzrbashjan-Gelfond-Leontiev differentiation and integration with multiindex Mittag-Leffler function.
Abstract: Exchange algorithm with constraints on magnitude and phase error separately in new way is presented in this paper. An important feature of the algorithms presented in this paper is that they allow for design constraints which often arise in practical filter design problems. Meeting required minimum stopband attenuation or a maximum deviation from the desired magnitude and phase responses in the passbands are common design constraints that can be handled by the methods proposed here. This new algorithm may have important advantages over existing technique, with respect to the speed and stability of convergence, memory requirement and low ripples.
Abstract: In this study, a comparison of two control methods,
Proportional Control (PC) and Fuzzy Logic Control (FLC), which
have been used to develop an ideal thermoelectric renal hypothermia
system in order to use in renal surgery, has been carried out. Since
the most important issues in long-lasting parenchymatous renal
surgery are to provide an operation medium free of blood and to
prevent renal dysfunction in the postoperative period, control of the
temperature has become very important in renal surgery. The final
product is seriously affected from the changes in temperature,
therefore, it is necessary to reach some desired temperature points
quickly and avoid large overshoot. PIC16F877 microcontroller has
been used as controller for both of these two methods. Each control
method can simply ensure extra renal hypothermia in the targeted
way. But investigation of advantages and disadvantages of every
control method to each other is aimed and carried out by the
experimental implementations. Shortly, investigation of the most
appropriate method to use for development of system and that can be
applied to people safely in the future, has been performed. In this
sense, experimental results show that fuzzy logic control gives out
more reliable responses and efficient performance.
Abstract: In data mining, the association rules are used to search
for the relations of items of the transactions database. Following the
data is collected and stored, it can find rules of value through
association rules, and assist manager to proceed marketing strategy
and plan market framework. In this paper, we attempt fuzzy partition
methods and decide membership function of quantitative values of
each transaction item. Also, by managers we can reflect the
importance of items as linguistic terms, which are transformed as
fuzzy sets of weights. Next, fuzzy weighted frequent pattern growth
(FWFP-Growth) is used to complete the process of data mining. The
method above is expected to improve Apriori algorithm for its better
efficiency of the whole association rules. An example is given to
clearly illustrate the proposed approach.
Abstract: The direct synthesis process of dimethyl ether (DME)
from syngas in slurry reactors is considered to be promising because
of its advantages in caloric transfer. In this paper, the influences of
operating conditions (temperature, pressure and weight hourly space
velocity) on the conversion of CO, selectivity of DME and methanol
were studied in a stirred autoclave over Cu-Zn-Al-Zr slurry catalyst,
which is far more suitable to liquid phase dimethyl ether synthesis
process than bifunctional catalyst commercially. A Langmuir-
Hinshelwood mechanism type global kinetics model for liquid phase
DME direct synthesis based on methanol synthesis models and a
methanol dehydration model has been investigated by fitting our
experimental data. The model parameters were estimated with
MATLAB program based on general Genetic Algorithms and
Levenberg-Marquardt method, which is suitably fitting experimental
data and its reliability was verified by statistical test and residual
error analysis.
Abstract: The persistent nature of perfluorochemicals (PFCs) has attracted global concern in recent years. Perfluorooctanesulfonate (PFOS) and perfluorooctanoate (PFOA) are the most commonly found PFC compounds, and thus their fate and transport play key roles in PFC distribution in the natural environment. The kinetic behavior of PFOS or PFOA on boehmite consists of a fast adsorption process followed by a slow adsorption process which may be attributed to the slow transport of PFOS or PFOA into the boehmite pore surface. The adsorption isotherms estimated the maximum adsorption capacities of PFOS and PFOA on boehmite as 0.877 μg/m2 and 0.633 μg/m2, with the difference primarily due to their different functional groups. The increase of solution pH led to a moderate decrease of PFOS and PFOA adsorption, owing to the increase of ligand exchange reactions and the decrease of electrostatic interactions. The presence of NaCl in solution demonstrated negative effects for PFOS and PFOA adsorption on boehmite surfaces, with potential mechanisms being electrical double layer compression, competitive adsorption of chloride.
Abstract: In this paper we apply one of approaches in category of heuristic methods as Genetic Algorithms for obtaining approximate solution of optimal control problems. The firs we convert optimal control problem to a quasi Assignment Problem by defining some usual characters as defined in Genetic algorithm applications. Then we obtain approximate optimal control function as an piecewise constant function. Finally the numerical examples are given.
Abstract: Chinese Idioms are a type of traditional Chinese idiomatic
expressions with specific meanings and stereotypes structure
which are widely used in classical Chinese and are still common in
vernacular written and spoken Chinese today. Currently, Chinese
Idioms are retrieved in glossary with key character or key word in
morphology or pronunciation index that can not meet the need of
searching semantically. OCIRS is proposed to search the desired
idiom in the case of users only knowing its meaning without any key
character or key word. The user-s request in a sentence or phrase will
be grammatically analyzed in advance by word segmentation, key
word extraction and semantic similarity computation, thus can be
mapped to the idiom domain ontology which is constructed to provide
ample semantic relations and to facilitate description logics-based
reasoning for idiom retrieval. The experimental evaluation shows that
OCIRS realizes the function of searching idioms via semantics, obtaining
preliminary achievement as requested by the users.
Abstract: Severe acute respiratory syndrome (SARS) is a respiratory disease in humans which is caused by the SARS coronavirus. The treatment of coronavirus-associated SARS has been evolving and so far there is no consensus on an optimal regimen. The mainstream therapeutic interventions for SARS involve broad-spectrum antibiotics and supportive care, as well as antiviral agents and immunomodulatory therapy. The Protein- Ligand interaction plays a significant role in structural based drug designing. In the present work we have taken the receptor Angiotensin converting enzyme 2 and identified the drugs that are commonly used against SARS. They are Lopinavir, Ritonavir, Ribavirin, and Oseltamivir. The receptor Angiotensin converting enzyme 2 (ACE-2) was docked with above said drugs and the energy value obtained are as follows, Lopinavir (-292.3), Ritonavir (-325.6), Oseltamivir (- 229.1), Ribavirin (-208.8). Depending on the least energy value we have chosen the best two drugs out of the four conventional drugs. We tried to improve the binding efficiency and steric compatibility of the two drugs namely Ritonavir and Lopinavir. Several modifications were made to the probable functional groups (phenylic, ketonic groups in case of Ritonavir and carboxylic groups in case of Lopinavir respectively) which were interacting with the receptor molecule. Analogs were prepared by Marvin Sketch software and were docked using HEX docking software. Lopinavir analog 8 and Ritonavir analog 11 were detected with significant energy values and are probable lead molecule. It infers that some of the modified drugs are better than the original drugs. Further work can be carried out to improve the steric compatibility of the drug based upon the work done above for a more energy efficient binding of the drugs to the receptor.
Abstract: Textile structures are engineered and fabricated to
meet worldwide structural applications. Nevertheless, research
varying textile structure on natural fibre as composite reinforcement
was found to be very limited. Most of the research is focusing on
short fibre and random discontinuous orientation of the reinforcement
structure. Realizing that natural fibre (NF) composite had been
widely developed to be used as synthetic fibre composite
replacement, this research attempted to examine the influence of
woven and cross-ply laminated structure towards its mechanical
performances. Laminated natural fibre composites were developed
using hand lay-up and vacuum bagging technique. Impact and
flexural strength were investigated as a function of fibre type (coir
and kenaf) and reinforcement structure (imbalanced plain woven,
0°/90° cross-ply and +45°/-45° cross-ply). Multi-level full factorial
design of experiment (DOE) and analysis of variance (ANOVA) was
employed to impart data as to how fibre type and reinforcement
structure parameters affect the mechanical properties of the
composites. This systematic experimentation has led to determination
of significant factors that predominant influences the impact and
flexural properties of the textile composites. It was proven that both
fibre type and reinforcement structure demonstrated significant
difference results. Overall results indicated that coir composite and
woven structure exhibited better impact and flexural strength. Yet,
cross-ply composite structure demonstrated better fracture resistance.
Abstract: This paper presents an algorithm of particle swarm
optimization with reduction for global optimization problems. Particle
swarm optimization is an algorithm which refers to the collective
motion such as birds or fishes, and a multi-point search algorithm
which finds a best solution using multiple particles. Particle
swarm optimization is so flexible that it can adapt to a number
of optimization problems. When an objective function has a lot of
local minimums complicatedly, the particle may fall into a local
minimum. For avoiding the local minimum, a number of particles are
initially prepared and their positions are updated by particle swarm
optimization. Particles sequentially reduce to reach a predetermined
number of them grounded in evaluation value and particle swarm
optimization continues until the termination condition is met. In order
to show the effectiveness of the proposed algorithm, we examine the
minimum by using test functions compared to existing algorithms.
Furthermore the influence of best value on the initial number of
particles for our algorithm is discussed.
Abstract: This paper addresses the fundamental requirements for
starting an online business. It covers the process of ideation,
conceptualization, formulation, and implementation of new venture
ideas on the Web. Using Facebook as an illustrative example, we learn
how to turn an idea into a successful electronic business and to execute
a business plan with IT skills, management expertise, a good
entrepreneurial attitude, and an understanding of Internet culture. The
personality traits and characteristics of a successful e-commerce
entrepreneur are discussed with reference to Facebook-s founder,
Mark Zuckerberg. Facebook is a social and e-commerce success. It
provides a trusted environment of which participants can conduct
business with social experience. People are able to discuss products
before, during the after the sale within the Facebook environment. The
paper also highlights the challenges and opportunities for e-commerce
entrepreneurial startups to go public and of entering the China market.
Abstract: In this treatise we will study the capability of static
compensator for reactive power to stabilize sheen voltage with motor
loading on power networks system. We also explain the structure and main function of STATCOM and the method to control it using STATCOM transformer current to simultaneously predict after
telling about the necessity of FACTS tools to compensate in power networks. Then we study topology and controlling system to stabilize
voltage during start of inductive motor. The outcome of stimulat by MATLAB software supports presented controlling idea and
system in the treatise.