Abstract: Wheel-running type moving robot has the restriction
on the moving range caused by obstacles or stairs. Solving this
weakness, we studied the development of moving robot using airship.
Our airship robot moves by recognizing arrow marks on the path. To
have the airship robot recognize arrow marks, we used edge-based
template matching. To control propeller units, we used PID and PD
controller. The results of experiments demonstrated that the airship
robot can move along the marks and can go up and down the stairs. It is
shown the possibility that airship robot can become a robot which can
move at wide range facilities.
Abstract: In this article a bibliography research takes place to
track down and introduce the barriers and opportunities for the
adoption of e-Governance services mainly from the side of citizen,
that is to say, the demand side. Although governments invest
continuously in producing of e-Governance services, citizens face
difficulties to adopt these services. Barriers derive and prevent them
from using e-Governance services. Barrier is anything preventing
citizens from the adoption of e-Governance services. Barriers impede
or do not allow the adoption of e-Governance services by the
citizens. If the barriers are pinpointed, it will be possible to take them
into consideration while designing e-Governance services which the
citizens are likely to use, if the obstacles are raised. The barriers will
thus be converted in opportunities that will facilitate the adoption.
Abstract: This paper provides a new approach to solve the motion planning problems of flying robots in uncertain 3D dynamic environments. The robots controlled by this method can adaptively choose the fast way to avoid collision without information about the shapes and trajectories of obstacles. Based on sphere coordinates the new method accomplishes collision avoidance of flying robots without any other auxiliary positioning systems. The Self-protection System gives robots self-protection abilities to work in uncertain 3D dynamic environments. Simulations illustrate the validity of the proposed method.
Abstract: Recent medical studies have investigated the importance of enteral feeding and the use of feeding pumps for recovering patients unable to feed themselves or gain nourishment and nutrients by natural means. The most of enteral feeding system uses a peristaltic tube pump. A peristaltic pump is a form of positive displacement pump in which a flexible tube is progressively squeezed externally to allow the resulting enclosed pillow of fluid to progress along it. The squeezing of the tube requires a precise and robust controller of the geared motor to overcome parametric uncertainty of the pumping system which generates due to a wide variation of friction and slip between tube and roller. So, this paper proposes fuzzy adaptive controller for the robust control of the peristaltic tube pump. This new adaptive controller uses a fuzzy multi-layered architecture which has several independent fuzzy controllers in parallel, each with different robust stability area. Out of several independent fuzzy controllers, the most suited one is selected by a system identifier which observes variations in the controlled system parameter. This paper proposes a design procedure which can be carried out mathematically and systematically from the model of a controlled system. Finally, the good control performance, accurate dose rate and robust system stability, of the developed feeding pump is confirmed through experimental and clinic testing.
Abstract: A social network is a set of people or organization or other social entities connected by some form of relationships. Analysis of social network broadly elaborates visual and mathematical representation of that relationship. Web can also be considered as a social network. This paper presents an innovative approach to analyze a social network using a variant of existing ant colony optimization algorithm called as Clever Ant Colony Metaphor. Experiments are performed and interesting findings and observations have been inferred based on the proposed model.
Abstract: The urban centers within northeastern Brazil are
mainly influenced by the intense rainfalls, which can occur after long
periods of drought, when flood events can be observed during such
events. Thus, this paper aims to study the rainfall frequencies in such
region through the wavelet transform. An application of wavelet
analysis is done with long time series of the total monthly rainfall
amount at the capital cities of northeastern Brazil. The main
frequency components in the time series are studied by the global
wavelet spectrum and the modulation in separated periodicity bands
were done in order to extract additional information, e.g., the 8 and
16 months band was examined by an average of all scales, giving a
measure of the average annual variance versus time, where the
periods with low or high variance could be identified. The important
increases were identified in the average variance for some periods,
e.g. 1947 to 1952 at Teresina city, which can be considered as high
wet periods. Although, the precipitation in those sites showed similar
global wavelet spectra, the wavelet spectra revealed particular
features. This study can be considered an important tool for time
series analysis, which can help the studies concerning flood control,
mainly when they are applied together with rainfall-runoff
simulations.
Abstract: Cutting fluids, usually in the form of a liquid, are
applied to the chip formation zone in order to improve the cutting
conditions. Cutting fluid can be expensive and represents a biological
and environmental hazard that requires proper recycling and
disposal, thus adding to the cost of the machining operation. For
these reasons dry cutting or dry machining has become an
increasingly important approach; in dry machining no coolant or
lubricant is used. This paper discussed the effect of the dry cutting on
cutting force and tool life when machining aerospace materials
(Haynes 242) with using two different coated carbide cutting tools
(TiAlN and TiN/MT-TiCN/TiN). Response surface method (RSM)
was used to minimize the number of experiments. ParTiAlN Swarm
Optimisation (PSO) models were developed to optimize the
machining parameters (cutting speed, federate and axial depth) and
obtain the optimum cutting force and tool life. It observed that
carbide cutting tool coated with TiAlN performed better in dry
cutting compared with TiN/MT-TiCN/TiN. On other hand, TiAlN
performed more superior with using of 100 % water soluble coolant.
Due to the high temperature produced by aerospace materials, the
cutting tool still required lubricant to sustain the heat transfer from
the workpiece.
Abstract: The agricultural organic farming is different from
conventional farming in a way that is aimed at providing a balanced
and constructive action in agricultural systems. With the increase in
intensive agriculture, undesirable changes were being observed in
ecosystems with irreparable damage being caused to the natural
equilibrium. This is the reason for the increasing interest in organic
farming as an environment friendly agricultural production method.
In the present work three red fruits produced in organic farming were
analyzed, namely raspberry, gooseberry and blueberry. The samples
were harvested in a local farm when at plain maturation. The results
obtained allowed to conclude that the blueberry contained higher
amounts of phenolic compounds, total tannins and total anthocyanins
than raspberry and gooseberry. Furthermore, the HPLC analysis
allowed to identify monomeric anthocyanins and phenolic acids in
the three fruits studied.
Abstract: Ambient hydrolysis products in moist air and
hydrolysis kinetics in argon with humidity of RH1.5% for
polycrystalline LiH powders and sintered bulks were investigated by
X-ray diffraction, Raman spectroscopy and gravimetry. The results
showed that the hydrolysis products made up a layered structure of
LiOH•H2O/LiOH/Li2O from surface of the sample to inside. In low
humid argon atmosphere, the primary hydrolysis product was Li2O
rather than LiOH. The hydrolysis kinetic curves of LiH bulks present a
paralinear shape, which could be explained by the “Layer Diffusion
Control" model. While a three-stage hydrolysis kinetic profile was
observed for LiH powders under the same experimental conditions.
The first two sections were similar to that of the bulk samples, and the
third section also presents a linear reaction kinetics but with a smaller
reaction rate compared to the second section because of a larger
exothermic effect for the hydrolysis reaction of LiH powder.
Abstract: Banana is one of the most consumed fruits in the tropics and subtropics. Brazil accounts for about 9% of the world banana production. However, the production losses are as high as 30 to 40% and even much higher in some developing countries. The green banana flour is a complex carbohydrate source, including a high total starch (73.4%), resistant starch (17.5%) with functional properties. Gamma irradiation is considered to be an alternative method for food preservation. It has been performed due to the need of extending the shelf - life of foods, whilst maintaining their safety and avoiding one of the main concerns: the nutrient loss. In this work data about on the effects of ionizing radiation on the physicochemical analysis (carbohydrate, proteins, lipids, alimentary fiber, moistures and ashes) of Brazilian functional products (biscuits and bread) of the green banana pulp are presented. The caloric value was calculated. No significant difference was observed between the samples of irradiated and non – irradiated green banana biscuits with the following determinations: carbohydrates, proteins, alimentary fiber and ashes. Only a small significant difference was found in lipids (macronutrients). The results of physical chemical analysis of the irradiated and non- irradiated green banana bread non- irradiated showed no significant difference with the following determinations: carbohydrates, lipids (macronutrients), moisture, ashes and caloric value. A small difference was found in proteins (macronutrients). Irradiation of functional products (biscuits and bread) with doses of 1 and 3kGy maintained their original macronutrients content, showing good radioresistance.
Abstract: A sophisticated simulator provides a cost-effective measure to carry out preliminary mission testing and diagnostic while reducing potential failures for real life at sea trials. The presented simulation framework covers three key areas: AUV modeling, sensor modeling, and environment modeling. AUV modeling mainly covers the area of AUV dynamics. Sensor modeling deals with physics and mathematical models that govern each sensor installed onto the AUV. Environment model incorporates the hydrostatic, hydrodynamics, and ocean currents that will affect the AUV in a real-time mission. Based on this designed simulation framework, custom scenarios provided by the user can be modeled and its corresponding behaviors can be observed. This paper focuses on the accuracy of the simulated data from AUV model and environmental model derived from a developed AUV test-bed which was jointly upgraded by DSTO and the University of Adelaide. The main contribution of this paper is to experimentally verify the accuracy of the proposed simulation framework.
Abstract: A multi fingered dexterous anthropomorphic hand is
being developed by the authors. The focus of the hand is the
replacement of human operators in hazardous environments and also
in environments where zero tolerance is observed for the human
errors. The robotic hand will comprise of five fingers (four fingers
and one thumb) each having four degrees of freedom (DOF) which
can perform flexion, extension, abduction, adduction and also
circumduction. For the actuation purpose pneumatic muscles and
springs will be used. The paper exemplifies the mechanical design for
the robotic hand. It also describes different mechanical designs that
have been developed before date.
Abstract: The aim of this study was to investigate whether
magnetite nanoparticles affect the viability of Bradyrhizobium
japanicum cells residing on the surface of soybean seeds during
desiccation. Different concentrations of nanoparticles suspended in
liquid medium, mixed with and adhering to Bradyrhizobium
japanicum, were investigated at two temperatures, using both
soybean seeds and glass beads as surrogates. Statistical design was a
complete randomized block (CRB) in a factorial 6×2×2×6
experimental arrangement with four replications. The most important
variable was the viability of Bradyrhizobium on the surface of the
seeds. The nanoparticles increased Bradyrhizobium viability and
inoculated seeds stored at low temperature had greater viability when
nanoparticles had been added. At the optimum nanoparticle
concentration, 50% bacterium viability on the seeds was retained
after 5 days at 4ºC. Possible explanations for the observed effects are
proposed.
Abstract: Membrane distillation (MD) is a rising technology for
seawater or brine desalination process. In this work, an air gap
membrane distillation (AGMD) performance was investigated for
aqueous NaCl solution along with natural ground water and seawater.
In order to enhance the performance of the AGMD process in
desalination, that is, to get more flux, it is necessary to study the
effect of operating parameters on the yield of distillate water. The
influence of operational parameters such as feed flow rate, feed
temperature, feed salt concentration, coolant temperature and air gap
thickness on the membrane distillation (MD) permeation flux have
been investigated for low and high salt solution. the natural
application of ground water and seawater over 90 h continuous
operation, scale deposits observed on the membrane surface and
reduction in flux represents 23% for ground water and 60% for
seawater, in 90 h. This reduction was eliminated (less than 14 %) by
acidification of feed water. Hence, promote the research attention in
apply of AGMD for the ground water as well as seawater
desalination over today-s conventional RO operation.
Abstract: The small interfering RNA (siRNA) alters the
regulatory role of mRNA during gene expression by translational
inhibition. Recent studies show that upregulation of mRNA because
serious diseases like cancer. So designing effective siRNA with good
knockdown effects plays an important role in gene silencing. Various
siRNA design tools had been developed earlier. In this work, we are
trying to analyze the existing good scoring second generation siRNA
predicting tools and to optimize the efficiency of siRNA prediction
by designing a computational model using Artificial Neural Network
and whole stacking energy (%G), which may help in gene silencing
and drug design in cancer therapy. Our model is trained and tested
against a large data set of siRNA sequences. Validation of our results
is done by finding correlation coefficient of experimental versus
observed inhibition efficacy of siRNA. We achieved a correlation
coefficient of 0.727 in our previous computational model and we
could improve the correlation coefficient up to 0.753 when the
threshold of whole tacking energy is greater than or equal to -32.5
kcal/mol.
Abstract: This paper investigates the performance of Multiple- Input Multiple-Output (MIMO) feedback system combined with Orthogonal Frequency Division Multiplexing (OFDM). Two types of codebook based channel feedback techniques are used in this work. The first feedback technique uses a combination of both the long-term and short-term channel state information (CSI) at the transmitter, whereas the second technique uses only the short term CSI. The long-term and short-term CSI at the transmitter is used for efficient channel utilization. OFDM is a powerful technique employed in communication systems suffering from frequency selectivity. Combined with multiple antennas at the transmitter and receiver, OFDM proves to be robust against delay spread. Moreover, it leads to significant data rates with improved bit error performance over links having only a single antenna at both the transmitter and receiver. The effectiveness of these techniques has been demonstrated through the simulation of a MIMO-OFDM feedback system. The results have been evaluated for 4x4 MIMO channels. Simulation results indicate the benefits of the MIMO-OFDM channel feedback system over the one without incorporating OFDM. Performance gain of about 3 dB is observed for MIMO-OFDM feedback system as compared to the one without employing OFDM. Hence MIMO-OFDM becomes an attractive approach for future high speed wireless communication systems.
Abstract: In this paper an analytical solution is presented for fully developed flow in a parallel plates channel under the action of Lorentz force, by use of Homotopy Perturbation Method (HPM). The analytical results are compared with exact solution and an excellent agreement has been observed between them for both Couette and Poiseuille flows. Moreover, the effects of key parameters have been studied on the dimensionless velocity profile.
Abstract: In this study, shaking table tests are performed to investigate the behavior of excess pore water pressure in different soft soil-foundations of soil-structure interaction (SSI) system. The variation of the behaviors under cycled minor shock is observed. Moreover, The generation and variation mechanism of excess pore water pressure under earthquake excitation in different soft soilfoundations are analyzed and discussed.
Abstract: This study explores perceptions of English as a Foreign
Language (EFL) learners on using computer mediated communication
technology in their learner of English. The data consists of
observations of both synchronous and asynchronous communication
participants engaged in for over a period of 4 months, which included
online, and offline communication protocols, open-ended interviews
and reflection papers composed by participants.
Content analysis of interview data and the written documents listed
above, as well as, member check and triangulation techniques are the
major data analysis strategies. The findings suggest that participants
generally do not benefit from computer-mediated communication in
terms of its effect in learning a foreign language. Participants regarded
the nature of CMC as artificial, or pseudo communication that did not
aid their authentic communicational skills in English. The results of
this study sheds lights on insufficient and inconclusive findings, which
most quantitative CMC studies previously generated.
Abstract: Human skull is shown to exhibit numerous sexually dimorphic traits. Estimation of sex is a challenging task especially when a part of skull is brought for medicolegal investigation. The present research was planned to evaluate the sexing potential of the dimensions of foramen magnum in forensic identification by craniometric analysis. Length and breadth of the foramen magnum was measured using Vernier calipers and the area of foramen magnum was calculated. The length, breadth, and area of foramen magnum were found to be larger in males than females. Sexual dimorphism index was calculated to estimate the sexing potential of each variable. The study observations are suggestive of the limited utility of the craniometric analysis of foramen magnum during the examination of skull and its parts in estimation of sex.