Abstract: This paper investigates simple implicit force control
algorithms realizable with industrial robots. A lot of approaches
already published are difficult to implement in commercial robot
controllers, because the access to the robot joint torques is necessary
or the complete dynamic model of the manipulator is used. In
the past we already deal with explicit force control of a position
controlled robot. Well known schemes of implicit force control are
stiffness control, damping control and impedance control. Using such
algorithms the contact force cannot be set directly. It is further
the result of controller impedance, environment impedance and
the commanded robot motion/position. The relationships of these
properties are worked out in this paper in detail for the chosen
implicit approaches. They have been adapted to be implementable
on a position controlled robot. The behaviors of stiffness control
and damping control are verified by practical experiments. For this
purpose a suitable test bed was configured. Using the full mechanical
impedance within the controller structure will not be practical in the
case when the robot is in physical contact with the environment. This
fact will be verified by simulation.
Abstract: Sol-enhanced Zn-Ni-Al2O3 nanocomposite coatings
were electroplated on mild steel by our newly developed solenhanced
electroplating method. In this method, transparent Al2O3 sol
was added into the acidic Zn-Ni bath to produced Zn-Ni-Al2O3nanocomposite
coatings. The chemical composition, microstructure and
mechanical properties of the composite and alloy coatings deposited
at two different agitation speed were investigated. The structure of all
coatings was single γ-Ni5Zn21 phase. The composite coatings possess
refined crystals with higher microhardness compared to Zn-Ni alloy
coatings. The wear resistance of Zn-Ni coatings was improved
significantly by incorporation of alumina nano particles into the
coatings. Higher agitation speed provided more uniform coatings
with smaller grain sized and slightly higher microhardness.
Considering composite coatings, high agitation speeds may facilitate
co-deposition of alumina in the coatings.
Abstract: Extracting and determining chlorophyll pigments
(chlorophyll a and b) in green leaves are the procedures based on the
solvent extraction of pigments in samples using N,Ndimethylformamide
as the extractant. In this study, two species of
soluble inorganic selenium forms, selenite (SeIV) and selenate (SeVI)
at different concentrations were investigated on maize plants that
were growing in nutrient solutions during 2 weeks and at the end of
the experiment, amounts of chlorophyll a and b for first and second
leaves of maize were measured. In accordance with the results we
observed that our regarded Se concentrations in both forms of SeIV
and SeVI were not effective on maize plants’ chlorophyll a and b
significantly although high level of 3 mg.kg-1 SeIV had negative affect
on growth of the samples that had been treated by it but about SeVI
samples we did not observe this state and our different considered
SeVI concentrations were not toxic for maize plants.
Abstract: This paper presents a numerical investigation of two
horizontally mounted four-lobed swirl pipes in terms of swirl
induction effectiveness into flows passing through them. The swirl
flows induced by the two swirl pipes have the potential to improve
the efficiency of Clean-In-Place procedures in a closed processing
system by local intensification of hydrodynamic impact on the
internal pipe surface. Pressure losses, swirl development within the
two swirl pipe, swirl induction effectiveness, swirl decay and wall
shear stress variation downstream of two swirl pipes are analyzed and
compared. It was found that a shorter length of swirl inducing pipe
used in joint with transition pipes is more effective in swirl induction
than when a longer one is used, in that it has a less constraint to the
induced swirl and results in slightly higher swirl intensity just
downstream of it with the expense of a smaller pressure loss. The
wall shear stress downstream of the shorter swirl pipe is also slightly
larger than that downstream of the longer swirl pipe due to the
slightly higher swirl intensity induced by the shorter swirl pipe. The
advantage of the shorter swirl pipe in terms of swirl induction is more
significant in flows with a larger Reynolds Number.
Abstract: Non-crimp 3D orthogonal fabric composite is one of
the textile-based composite materials that are rapidly developing
light-weight engineering materials. The present paper focuses on
geometric and micromechanical modeling of non-crimp 3D
orthogonal carbon fabric and composites reinforced with it for
aerospace applications. In this research meso-finite element (FE)
modeling employs for stress analysis in different load conditions.
Since mechanical testing of expensive textile carbon composites with
specific application isn't affordable, simulation composite in a virtual
environment is a helpful way to investigate its mechanical properties
in different conditions.
Abstract: Experimental studies to investigate the depth of the
scour conducted at a side-weir intersection located at the 1800 curved
flume which located Hydraulic Laboratory of Yıldız Technical
University, Istanbul, Turkey. Side weirs were located at the middle of
the straight part of the main channel. Three different lengths (25, 40
and 50 cm) and three different weir crest height (7, 10 and 12 cm) of
the side weir placed on the side weir station. There is no scour when
the material is only kaolin. Therefore, the cohesive bed was prepared
by properly mixing clay material (kaolin) with 31% sand in all
experiments. Following 24h consolidation time, in order to observe
the effect of flow intensity on the scour depth, experiments were
carried out for five different upstream Froude numbers in the range of
0.33-0.81.
As a result of this study the relation between scour depth and
upstream flow intensity as a function of time have been established.
The longitudinal velocities decreased along the side weir; towards the
downstream due to overflow over the side-weirs. At the beginning,
the scour depth increases rapidly with time and then asymptotically
approached constant values in all experiments for all side weir
dimensions as in non-cohesive sediment. Thus, the scour depth
reached equilibrium conditions. Time to equilibrium depends on the
approach flow intensity and the dimensions of side weirs. For
different heights of the weir crest, dimensionless scour depths
increased with increasing upstream Froude number. Equilibrium
scour depths which formed 7 cm side-weir crest height were obtained
higher than that of the 12 cm side-weir crest height. This means when
side-weir crest height increased equilibrium scour depths decreased.
Although the upstream side of the scour hole is almost vertical, the
downstream side of the hole is inclined.
Abstract: This study aimed to investigate the magnetic resonance
(MR) signal enhancement ratio (ER) of contrast-enhanced MR
angiography (CE-MRA) in normal rats with gadobenate dimeglumine
(Gd-BOPTA) using a clinical 3T scanner and an extremity coil. The
relaxivities of Gd-BOPTA with saline only and with 4.5% human
serum albumin (HSA) were also measured. Compared with
Gadolinium diethylenetriaminepentaacetic acid (Gd-DTPA),
Gd-BOPTA had higher relaxivities. The maximum ER of aorta (ERa),
kidney, liver and muscle with Gd-BOPTA were higher than those with
Gd-DTPA. The maximum ERa appeared at 1.2 min and decayed to half
at 10 min after Gd-BOPTA injection. This information is helpful for
the design of CE-MRA study of rats.
Abstract: Many water desalination technologies have been
developed but in general they are energy intensive and have high cost
and adverse environmental impact. Recently, adsorption technology
for water desalination has been investigated showing the potential of
using low temperature waste heat (50-85oC) thus reducing energy
consumption and CO2 emissions. This work mathematically
compares the performance of an adsorption cycle that produces two
useful effects namely, fresh water and cooling using two different
adsorbents, silica-gel and an advanced zeolite material AQSOA-ZO2,
produced by Mitsubishi plastics. It was found that at low chilled
water temperatures, typically below 20oC, the AQSOA-Z02 is more
efficient than silica-gel as the cycle can produce 5.8 m3 of fresh water
per day and 50.1 Rton of cooling per tonne of AQSOA-ZO2. Above
20oC silica-gel is still better as the cycle production reaches 8.4 m3
per day and 62.4 Rton per tonne of silica-gel. These results show the
potential of using the AQSOA-Z02 at low chilled water temperature
for water desalination and cooling applications.
Abstract: Plasmin plays an important role in the human
circulatory system owing to its catalytic ability of fibrinolysis. The
immediate injection of plasmin in patients of strokes has intrigued
many scientists to design vectors that can transport plasmin to the
desired location in human body. Here we predict the structure of
human plasmin and investigate the interaction of plasmin with the
gold-nanoparticle.
Because the crystal structure of plasminogen has been solved, we
deleted N-terminal domain (Pan-apple domain) of plasminogen and
generate a mimic of the active form of this enzyme (plasmin). We
conducted a simulated annealing process on plasmin and discovered a
very large conformation occurs. Kringle domains 1, 4 and 5 had been
observed to leave its original location relative to the main body of the
enzyme and the original doughnut shape of this enzyme has been
transformed to a V-shaped by opening its two arms. This observation
of conformational change is consistent with the experimental results of
neutron scattering and centrifugation.
We subsequently docked the plasmin on the simulated gold surface
to predict their interaction. The V-shaped plasmin could utilize its
Kringle domain and catalytic domain to contact the gold surface.
Our findings not only reveal the flexibility of plasmin structure but
also provide a guide for the design of a plasmin-gold nanoparticle.
Abstract: This paper investigates and compares the community
support for tourism development between two groups of minority
ethnic descendants in Malacca, Malaysia, namely the Baba-Nyonya
and Portuguese. A descriptive research design using a quantitative
method with self-reported and self-administered questionnaires
through across-sectional approach was applied. Through the
descriptive and inferential statistics, some significantly useful
insights pertaining to the issue investigated were obtained. The
research outcomes indicate that the sense of community is somewhat
more effective in small communities in terms of togetherness,
closeness and a sense of belonging compared to the slightly bigger
minority group. In addition, the sense of community attributes
through membership, influence, integration and shared emotional
connections contributes to community participation in tourism
development regardless of which ethnic group one belongs to.
Abstract: Advanced treatments such as forward osmosis (FO)
can be used to separate or reject nutrients from secondary treated
effluents. Forward osmosis uses the chemical potential across the
membrane, which is the osmotic pressure gradient, to induce water to
flow through the membrane from a feed solution (FS) into a draw
solution (DS). The performance of FO is affected by the membrane
characteristics, composition of the FS and DS, and operating
conditions. The aim of this study was to investigate the optimum
velocity and temperature for nutrient rejection and water flux
performance in FO treatments. MgCl2 was used as the DS in the FO
process. The results showed that higher cross flow velocities yielded
higher water fluxes. High rejection of nutrients was achieved by using
a moderate cross flow velocity at 0.25 m/s. Nutrient rejection was
insensitive to temperature variation, whereas water flux was
significantly impacted by it. A temperature of 25°C was found to be
good for nutrient rejection.
Abstract: The Orthogonal Frequency Division Multiplexing
(OFDM) with high data rate, high spectral efficiency and its ability to
mitigate the effects of multipath makes them most suitable in wireless
application. Impulsive noise distorts the OFDM transmission and
therefore methods must be investigated to suppress this noise. In this
paper, a State Space Recursive Least Square (SSRLS) algorithm
based adaptive impulsive noise suppressor for OFDM
communication system is proposed. And a comparison with another
adaptive algorithm is conducted. The state space model-dependent
recursive parameters of proposed scheme enables to achieve steady
state mean squared error (MSE), low bit error rate (BER), and faster
convergence than that of some of existing algorithm.
Abstract: Microstructural and hardening changes of
Fe-0.2wt.%V alloy and pure Fe irradiated with 100 keV hydrogen ions
at room temperature were investigated. It was found that dislocation
density varies dramatically after irradiation, ranging from dislocation
free to dense areas with tangled and complex dislocation
configuration. As the irradiated Fe-0.2wt.%V samples were annealed
at 773 K, the irradiation-induced dislocation loops disappear, while
many small precipitates with enriched C distribute in the matrix. Some
large precipitates with enriched V were also observed. The hardness of
Fe-0.2wt.%V alloy and pure Fe increases after irradiation, which
ascribes to the formation of dislocation loops in the irradiated
specimens. Compared with pure Fe, the size of the
irradiation-introduced dislocation loops in Fe-0.2wt.%V alloy
decreases and the density increases, the change of the hardness also
decreases.
Abstract: Phthalates are ubiquitous environmental pollutants
well known because of their endocrine disrupting activity in human
organism. The aim of our study was, by biological monitoring,
investigate exposure to phthalates of Roma ethnicity group i.e.
children and adults from 5 families (n=29, average age 11.8 ± 7.6
years) living in western Slovakia. Additionally, we analysed some
associations between anthropometric measures, questionnaire data
i.e. socio-economic status, eating and drinking habits, practise of
personal care products and household conditions in comparison with
concentrations of phthalate metabolites. We used for analysis of urine
samples high performance liquid chromatography and tandem mass
spectrometry (HPLC-MS/MS) to determine concentrations of
phthalate metabolites monoethyl phthalate (MEP), mono-n-butyl
phthalate (MnBP), mono-iso-butyl phthalate (MiBP), mono(2-ethyl-
5-hydroxyhexyl) phthalate (5OH-MEHP), mono(2-ethyl-5-oxohexyl)
phthalate (5oxo-MEHP) and mono(2-etylhexyl) phthalate (MEHP).
Our results indicate that ethnicity, lower socioeconomic status and
different housing conditions in Roma population can affect urinary
concentration of phthalate metabolites.
Abstract: The separation of Hg (II) from produced water by
hollow fiber contactors (HFC) was investigation. This system
included of two hollow fiber modules in the series connecting. The
first module used for the extraction reaction and the second module
for stripping reaction. Aliquat336 extractant was fed from the organic
reservoirs into the shell side of the first hollow fiber module and
continuous to the shell side of the second module. The organic liquid
was continuously feed recirculate and back to the reservoirs. The feed
solution was pumped into the lumen (tube side) of the first hollow
fiber module. Simultaneously, the stripping solution was pumped in
the same way in tube side of the second module. The feed and
stripping solution was fed which had a countercurrent flow. Samples
were kept in the outlet of feed and stripping solution at 1 hour and
characterized concentration of Hg (II) by Inductively Couple Plasma
Atomic Emission Spectroscopy (ICP-AES). Feed solution was
produced water from natural gulf of Thailand. The extractant was
Aliquat336 dissolved in kerosene diluent. Stripping solution used was
nitric acid (HNO3) and thiourea (NH2CSNH2). The effect of carrier
concentration and type of stripping solution were investigated.
Results showed that the best condition were 10 % (v/v) Aliquat336
and 1.0 M NH2CSNH2. At the optimum condition, the extraction and
stripping of Hg (II) were 98% and 44.2%, respectively.
Abstract: The need to use high volumes of data and the high
competition are only two reasons which make necessary the use of
information technologies. The objective of our research is to establish
the impact of information technologies on the accounting department
of the Romanian companies. In order to achieve it, starting from the
literature review we made an empirical research based on a
questionnaire. We investigated the types of technologies used, the
reasons which led to the implementation of certain technologies, the
benefits brought by the use of the information technologies, the
difficulties brought by the implementation and the future effects of
the applications. The conclusions show that there is an evolution in
the degree of implementation of the information technologies in the
Romanian companies, compared with the results of other studies
conducted a few years before.
Abstract: Quantitative radiobiological models can be used to
assess the optimum clinical outcome from sophisticated therapeutic
modalities by calculating tumor control probability (TCP) and normal
tissue complication probability (NTCP). In this study two 3D-CRT
and an IMRT treatment plans were developed with an initial
prescription dose of 60 Gy in 2 Gy/fraction to prostate. Sensitivity of
TCP and Complication free tumor control probability (P+) to the
different values of α/β ratio was investigated for various prescription
doses planned to be delivered in either a fixed number of fractions (I)
or in a fixed dose per fraction (II) in each of the three different
treatment plans. High dose/fraction and high α/β value result in
comparatively smaller P+ and IMRT plans resulted in the highest P+,
mainly due to the decrease in NTCP. If α/β is lower than expected,
better tumor control can be achieved by increasing dose/fraction but
decreasing the number of fractions.
Abstract: Medicinal plants are now gaining attractiveness in
treatment of bacterial infections and food preservation. The objective
of this study was to assess antibacterial activity of some medicinal
plants on pathogenic bacteria. Screening of antibacterial activity of
aqueous and methanol extracts of some plants: Jojoba, Ginger, Sage,
Thyme and Clove against Bacillus cereus, Salmonella typhimurium,
Staphylococcus aureus, Clostridium perfringens and Escherichia coli
were investigated. Antibacterial activity was performed by agar
diffusion and disc diffusion method. Jatropha, Jojoba, Clove and
Ginger extracts showed notable bacterial activity in the first
screening step then selected to be tested against Bacillus cereus
(Gram+), Staphylococcus aureus (Gram+) and Salmonella
typhimurium (Gram−) and their effect was compared using
antibiotics as control. Screening results showed potential antibacterial
activity of the tested plant extracts against the screened bacterial
strains. It was found that methanol extracts exhibited higher
antibacterial activity than aqueous extracts. Methanol extract of
Jatropha showed the highest inhibition zone against Staphylococcus
aureus (Gram+) with 24.00 mm diameter, compared to the other
plant extracts followed by clove. Meanwhile, the inhibition zones of
methanol extracts of Jojoba and Ginger were the same (12mm).The
Gram-positive bacteria were found to be more sensitive to aqueous
and methanol extracts than Gram-negative bacteria.
Abstract: This paper analyses the heat transfer performance and
fluid flow using different nanofluids in a square enclosure. The
energy equation and Navier-Stokes equation are solved numerically
using finite volume scheme. The effect of volume fraction
concentration on the enhancement of heat transfer has been studied
icorporating the Brownian motion; the influence of effective thermal
conductivity on the enhancement was also investigated for a range of
volume fraction concentration. The velocity profile for different
Rayleigh number. Water-Cu, water AL2O3 and water-TiO2 were
tested.
Abstract: The article presents a plasma chemical technology for
processing solid fuels, using examples of bituminous and brown
coals. Thermodynamic and experimental investigation of the
technology was made. The technology allows producing synthesis
gas from the coal organic mass and valuable components (technical
silicon, ferrosilicon, aluminum, and carbon silicon, as well as
microelements of rare metals, such as uranium, molybdenum,
vanadium, etc.) from the mineral mass. The thusly produced highcalorific
synthesis gas can be used for synthesis of methanol, as a
high-calorific reducing gas instead of blast-furnace coke as well as
power gas for thermal power plants.