Abstract: Deployment of pneumatic muscles in various
industrial applications is still in its early days, considering the relative
newness of these components. The field of robotics holds particular
future potential for pneumatic muscles, especially in view of their
specific behaviour known as compliance. The paper presents and
discusses an innovative constructive solution for a gripper system
mountable on an industrial robot, based on actuation by a linear
pneumatic muscle and transmission of motion by gear and rack
mechanism. The structural, operational and constructive models of
the new gripper are presented, along with some of the experimental
results obtained subsequently to the testing of a prototype. Further
presented are two control variants of the gripper system, one by
means of a 3/2-way fast-switching solenoid valve, the other by means
of a proportional pressure regulator. Advantages and disadvantages
are discussed for both variants.
Abstract: Sensory input plays an important role to human
posture control system to initiate strategy in order to counterpart any
unbalance condition and thus, prevent fall. In previous study, joint
stiffness was observed able to describe certain issues regarding to
movement performance. But, correlation between balance ability and
joint stiffness is still remains unknown. In this study, joint stiffening
strategy at ankle and hip were observed under different sensory
manipulations and its correlation with conventional clinical test
(Functional Reach Test) for balance ability was investigated. In order
to create unstable condition, two different surface perturbations (tilt
up-tilt (TT) down and forward-backward (FB)) at four different
frequencies (0.2, 0.4, 0.6 and 0.8 Hz) were introduced. Furthermore,
four different sensory manipulation conditions (include vision and
vestibular system) were applied to the subject and they were asked to
maintain their position as possible. The results suggested that joint
stiffness were high during difficult balance situation. Less balance
people generated high average joint stiffness compared to balance
people. Besides, adaptation of posture control system under repetitive
external perturbation also suggested less during sensory limited
condition. Overall, analysis of joint stiffening response possible to
predict unbalance situation faced by human
Abstract: In this study, an optimization of supersonic air-to-air ejector is carried out by a recently developed single-objective genetic algorithm based on adaption of sequence of individuals. Adaptation of sequence is based on Shape-based distance of individuals and embedded micro-genetic algorithm. The optimal sequence found defines the succession of CFD-aimed objective calculation within each generation of regular micro-genetic algorithm. A spring-based deformation mutates the computational grid starting the initial individualvia adapted population in the optimized sequence. Selection of a generation initial individual is knowledge-based. A direct comparison of the newly defined and standard micro-genetic algorithm is carried out for supersonic air-to-air ejector. The only objective is to minimize the loose of total stagnation pressure in the ejector. The result is that sequence-adopted micro-genetic algorithm can provide comparative results to standard algorithm but in significantly lower number of overall CFD iteration steps.
Abstract: The voltage/current characteristics and the effect of
NO2 gas on the electrical conductivity of a PbPc gas sensor array is
investigated. The gas sensor is manufactured using vacuum
deposition of gold electrodes on sapphire substrate with the leadphathalocyanine
vacuum sublimed on the top of the gold electrodes.
Two versions of the PbPc gas sensor array are investigated. The
tested types differ in the gap sizes between the deposited gold
electrodes. The sensors are tested at different temperatures to account
for conductivity changes as the molecular adsorption/desorption rate
is affected by heat. The obtained results found to be encouraging as
the sensors shoed stability and sensitivity towards low concentration
of applied NO2 gas.
Abstract: All the available algorithms for blind estimation namely constant modulus algorithm (CMA), Decision-Directed Algorithm (DDA/DFE) suffer from the problem of convergence to local minima. Also, if the channel drifts considerably, any DDA looses track of the channel. So, their usage is limited in varying channel conditions. The primary limitation in such cases is the requirement of certain overhead bits in the transmit framework which leads to wasteful use of the bandwidth. Also such arrangements fail to use channel state information (CSI) which is an important aid in improving the quality of reception. In this work, the main objective is to reduce the overhead imposed by the pilot symbols, which in effect reduces the system throughput. Also we formulate an arrangement based on certain dynamic Artificial Neural Network (ANN) topologies which not only contributes towards the lowering of the overhead but also facilitates the use of the CSI. A 2×2 Multiple Input Multiple Output (MIMO) system is simulated and the performance variation with different channel estimation schemes are evaluated. A new semi blind approach based on dynamic ANN is proposed for channel tracking in varying channel conditions and the performance is compared with perfectly known CSI and least square (LS) based estimation.
Abstract: The nonlinear damping behavior is usually ignored in
the design of a miniature moving-coil loudspeaker. But when the
loudspeaker operated in air, the damping parameter varies with the
voice-coil displacement corresponding due to viscous air flow. The
present paper presents an identification model as inverse problem to
identify the nonlinear damping parameter in the lumped parameter
model for the loudspeaker. Theoretical results for the nonlinear
damping are verified by using laser displacement measurement
scanner. These results indicate that the damping parameter has the
greatly different nonlinearity between in air and vacuum. It is believed
that the results of the present work can be applied in diagnosis and
sound quality improvement of a miniature loudspeaker.
Abstract: Never has a revolution affected all aspects of
humanity as the communication revolution during the past two
decades. This revolution, with all its advances and utilities, swept the
world thus becoming an integral part of our lives, hence giving way
to emerging applications at the social, economic, political, and
educational levels. More specifically, such applications have changed
the delivery system through which learning is acquired by students.
Interaction with educators, accessibility to content, and creative
delivery options are but a few facets of the new learning experience
now being offered through the use of technology in the educational
field. With different success rates, third world countries have tried to
pace themselves with use of educational technology in advanced
parts of the world. One such country is the small rich-oil state of
Kuwait which has tried to adopt the e-educational model, however,
an evaluation of such trial is yet to be done. This study aimed to fill
the void of research conducted around that topic. The study explored
students' acceptance of incorporating communication technologies in
higher education in Kuwait. Students' responses to survey questions
presented an overview of the e-learning experience in this country,
and drew a framework through which implications and suggestions
for future research were discussed to better serve the advancement of
e-education in developing countries.
Abstract: Transmission and distribution lines are vital links between the generating unit and consumers. They are exposed to atmosphere, hence chances of occurrence of fault in transmission line is very high which has to be immediately taken care of in order to minimize damage caused by it. In this paper Discrete wavelet transform of voltage signals at the two ends of transmission lines have been analyzed. The transient energy of the detail information of level five is calculated for different fault conditions. It is observed that the variation of transient energy of healthy and faulted line can give important information which can be very useful in classifying and locating the fault.
Abstract: Discharges in hydrogen, ignited by wire explosion, with current amplitude up to 1.5 MA were investigated. Channel diameter oscillations were observed on the photostreaks. Voltage and current curves correlated with the photostreaks. At initial gas pressure of 5-35 MPa the oscillation period was proportional to square root of atomic number of the initiating wire material. These oscillations were associated with aligned magnetic and gas-kinetic pressures. At initial pressure of 80-160 MPa acoustic pressure fluctuations on the discharge chamber wall were increased up to 150 MPa and there were the growth of voltage fluctuations on the discharge gap up to 3 kV simultaneously with it. In some experiments it was observed abrupt increase in the oscillation amplitude, which can be caused by the resonance of the acoustic oscillations in discharge chamber volume and the oscillations connected with alignment of the gaskinetic pressure and the magnetic pressure, as far as frequencies of these oscillations are close to each other in accordance with the estimates and the experimental data. Resonance of different type oscillations can produce energy density increasing in the discharge channel. Thus, the appropriate initial conditions in the experiment allow to increase the energy density in the discharge channel
Abstract: Soil microbial activity is adversely affected by pollutants such as heavy metals, antibiotics and pesticides. Organic amendments including sewage sludge, municipal compost and vermicompost are recently used to improve soil structure and fertility. But, these materials contain heavy metals including Pb, Cd, Zn, Ni and Cu that are toxic to soil microorganisms and may lead to occurrence of more tolerant microbes. Among these, Pb is the most abundant and has more negative effect on soil microbial ecology. In this study, Pb levels of 0, 100, 200, 300, 400 and 500 mg Pb [as Pb(NO3)2] per kg soil were added to the pots containing 2 kg of a loamy soil and incubated for 6 months at 25°C with soil moisture of - 0.3 MPa. Dehydrogenase activity of soil as a measure of microbial activity was determined on 15, 30, 90 and 180 days after incubation. Triphenyl tetrazolium chloride (TTC) was used as an electron acceptor in this assay. PICTs (IC50 values) were calculated for each Pb level and incubation time. Soil microbial activity was decreased by increasing Pb level during 30 days of incubation but the induced tolerance appeared on day 90 and thereafter. During 90 to 180 days of incubation, the PICT was gradually developed by increasing Pb level up to 200 mg kg-1, but the rate of enhancement was steeper at higher concentrations.
Abstract: This research work is concerned with the eigenvalue problem for the integral operators which are obtained by linearization of a nonlocal evolution equation. The purpose of section II.A is to describe the nature of the problem and the objective of the project. The problem is related to the “stable solution" of the evolution equation which is the so-called “instanton" that describe the interface between two stable phases. The analysis of the instanton and its asymptotic behavior are described in section II.C by imposing the Green function and making use of a probability kernel. As a result , a classical Theorem which is important for an instanton is proved. Section III devoted to a study of the integral operators related to interface dynamics which concern the analysis of the Cauchy problem for the evolution equation with initial data close to different phases and different regions of space.
Abstract: In this work, Experimental tie-line results and
solubility (binodal) curves were obtained for the ternary systems
(water + acetic acid + methyl isobutyl ketone (MIBK)), (water +
lactic acid+ methyl isobutyl ketone) at T = 294.15K and atmospheric
pressure. The consistency of the values of the experimental tie-lines
was determined through the Othmer-Tobias and Hands correlations.
For the extraction effectiveness of solvents, the distribution and
selectivity curves were plotted. In addition, these experimental tieline
data were also correlated with NRTL model. The interaction
parameters for the NRTL model were retrieved from the obtained
experimental results by means of a combination of the homotopy
method and the genetic algorithms.
Abstract: At present, intelligent planning in the Graphplan framework is a focus of artificial intelligence. While the Creating or Destroying Objects Planning (CDOP) is one unsolved problem of this field, one of the difficulties, too. In this paper, we study this planning problem and bring forward the idea of transforming objects to propositions, based on which we offer an algorithm, Creating or Destroying Objects in the Graphplan framework (CDOGP). Compared to Graphplan, the new algorithm can solve not only the entire problems that Graphplan do, but also a part of CDOP. It is for the first time that we introduce the idea of object-proposition, and we emphasize the discussion on the representations of creating or destroying objects operator and an algorithm in the Graphplan framework. In addition, we analyze the complexity of this algorithm.
Abstract: The paper attempts to elucidate the columnar structure
of the cortex by answering the following questions. (1) Why the
cortical neurons with similar interests tend to be vertically arrayed
forming what is known as cortical columns? (2) How to describe the
cortex as a whole in concise mathematical terms? (3) How to design
efficient digital models of the cortex?
Abstract: Collective action can be an effective means for local development as well as important strategy to enhance livelihoods especially among rural people. This article explores the level of collective action among members of Fishermen-s Wives Group (KUNITA) in Malaysia. KUNITA was established by the Malaysian Fishery Development Authority (LKIM) with an objective to increase the socio-economic status of fishermen-s families. The members who are mostly the wives and daughters of fishermen are strongly encouraged by LKIM to venture into entrepreneurship activities. The objective of this research was to see the level of collective action among members in KUNITA groups in the state of Selangor. The finding shows that high level of collective action among KUNITA members is strongly based on volunteerism. However, the level of cooperation among members in the group is relatively low. The findings present significant challenges for the group in maintaining the sustainability of KUNITA organization.
Abstract: Owing the fact that optimization of business process
is a crucial requirement to navigate, survive and even thrive in
today-s volatile business environment, this paper presents a
framework for selecting a best-fit optimization package for solving
complex business problems. Complexity level of the problem and/or
using incorrect optimization software can lead to biased solutions of
the optimization problem. Accordingly, the proposed framework
identifies a number of relevant factors (e.g. decision variables,
objective functions, and modeling approach) to be considered during
the evaluation and selection process. Application domain, problem
specifications, and available accredited optimization approaches are
also to be regarded. A recommendation of one or two optimization
software is the output of the framework which is believed to provide
the best results of the underlying problem. In addition to a set of
guidelines and recommendations on how managers can conduct an
effective optimization exercise is discussed.
Abstract: In this article, we expose our research work in
Human-machine Interaction. The research consists in manipulating
the workspace by eyes. We present some of our results, in particular
the detection of eyes and the mouse actions recognition. Indeed, the
handicaped user becomes able to interact with the machine in a more
intuitive way in diverse applications and contexts. To test our
application we have chooses to work in real time on videos captured
by a camera placed in front of the user.
Abstract: Designing a simulated system and training it to optimize its tasks in simulated environment helps the designers to avoid problems that may appear when designing the system directly in real world. These problems are: time consuming, high cost, high errors percentage and low efficiency and accuracy of the system. The proposed system will investigate and improve the efficiency and accuracy of a simulated robot to choose correct behavior to perform its task. In this paper, machine learning, which uses genetic algorithm, is adopted. This type of machine learning is called genetic-based machine learning in which a distributed classifier system is used to improve the efficiency and accuracy of the robot. Consequently, it helps the robot to achieve optimal action.
Abstract: We present linear codes over finite commutative rings
which are not necessarily Frobenius. We treat the notion of syndrome
decoding by using Pontrjagin duality. We also give a version of Delsarte-s
theorem over rings relating trace codes and subring subcodes.
Abstract: In order to evaluate the relationship between the sulphur (S), glucose (G), nitrogen (N) and plant residues (st), sulphur immobilization and microbial transformation were monitored in five soil samples from 0-30 cm of Bastam farmers fields of Shahrood area following 11 treatments with different levels of Sulphur (S), glucose (G), N and plant residues (wheat straw) in a randomized block design with three replications and incubated over 20, 45 and 60 days, the immobilization of SO4 -2-S presented as a percentage of that added, was inversely related to its addition rate. Additions of glucose and plant residues increased with the C-to-S ratio of the added amendments, irrespective of their origins (glucose and plant residues). In the presence of C sources (glucose or plant residues). N significantly increased the immobilization of SO4 -2-S, whilst the effect of N was insignificant in the absence of a C amendment. In first few days the amounts of added SO4 -2-S immobilized were linearly correlated with the amounts of added S recovered in the soil microbial biomass. With further incubation the proportions of immobilized SO4 -2-S remaining as biomass-S decreased. Decrease in biomass-S was thought to be due to the conversion of biomass-S into soil organic-S. Glucose addition increased the immobilization (microbial utilization and incorporation into the soil organic matter) of native soil SO4 -2-S. However, N addition enhance the mineralization of soil organic-S, increasing the concentration of SO4 - 2-S in soil.