Abstract: Chatter vibration has been a troublesome problem
for a machine tool toward the high precision and high speed machining.
Essentially, the machining performance is determined by the dynamic
characteristics of the machine tool structure and dynamics of cutting
process, which can further be identified in terms of the stability lobe
diagram. Therefore, realization on the machine tool dynamic behavior
can help to enhance the cutting stability. To assess the dynamic
characteristics and machining stability of a vertical milling system
under the influence of a linear guide, this study developed a finite
element model integrated the modeling of linear components with the
implementation of contact stiffness at the rolling interface. Both the
finite element simulations and experimental measurements reveal that
the linear guide with different preload greatly affects the vibration
behavior and milling stability of the vertical column spindle head
system, which also clearly indicate that the predictions of the
machining stability agree well with the cutting tests. It is believed that
the proposed model can be successfully applied to evaluate the
dynamics performance of machine tool systems of various
configurations.
Abstract: The authors present an algorithm for order reduction of linear time invariant dynamic systems using the combined advantages of the eigen spectrum analysis and the error minimization by particle swarm optimization technique. Pole centroid and system stiffness of both original and reduced order systems remain same in this method to determine the poles, whereas zeros are synthesized by minimizing the integral square error in between the transient responses of original and reduced order models using particle swarm optimization technique, pertaining to a unit step input. It is shown that the algorithm has several advantages, e.g. the reduced order models retain the steady-state value and stability of the original system. The algorithm is illustrated with the help of two numerical examples and the results are compared with the other existing techniques.
Abstract: As we make progressive products for good works, and
future industries want to get higher speed and resolution from various
developments in the robotics as well as precise control system, the
concept of control feedback is getting more important. Within a range
of industrial developments, the concept is most responsible for the
high reliability of a device. We explain an efficient analyzing method
of a rotary encoder such as an incremental type encoder and absolute
type encoder using the LabVIEW program
Abstract: This paper summaries basic principles and concepts of
intelligent controls, implemented in humanoid robotics as well as
recent algorithms being devised for advanced control of humanoid
robots. Secondly, this paper presents a new approach neuro-fuzzy
system. We have included some simulating results from our
computational intelligence technique that will be applied to our
humanoid robot. Subsequently, we determine a relationship between
joint trajectories and located forces on robot-s foot through a
proposed neuro-fuzzy technique.
Abstract: This study examines the mediating effects of male
dyadic adjustment on the relationships between attachment and
attributional styles, and both psychological and physical husband
violence. Based on data from 68 married violent men recruited
through community organizations that work with violent men,
regression analyses showed that husbands- dyadic adjustment
mediates the associations between avoidant attachment and
attributional style, and psychological aggression, but not physical
violence. Scientific and clinical implications are discussed
Abstract: In accordance with environmental impacts contended in Kyoto Protocol, the study aims to explore the different administrative and non-administrative measurements that industrial countries, such as America, German, Japan, Korea, Holland and British take to face with the increasing Global Warming phenomena. By large, these measurements consist of versatile dimensions, including of education and advocating, economical instruments, research developments and instances, restricted instruments, voluntary contacts, exchangeable permit for carbon-release and public investments. The results of discussion for the study are as follows: both economical impacts as well as reformations for nations that are affected via Kyoto Protocol, and human testifying for variables of global surroundings in the age of Kyoto Protocol.
Abstract: Aims for this study: first, to compare the expertise
level in data analysis, communication and information technologies
in undergraduate psychology students. Second, to verify the factor
structure of E-ETICA (Escala de Experticia en Tecnologias de la Informacion, la Comunicacion y el Análisis or Data Analysis,
Communication and Information'Expertise Scale) which had shown
an excellent internal consistency (α= 0.92) as well as a simple factor
structure. Three factors, Complex, Basic Information and
Communications Technologies and E-Searching and Download
Abilities, explains 63% of variance. In the present study, 260
students (119 juniors and 141 seniors) were asked to respond to
ETICA (16 items Likert scale of five points 1: null domain to 5: total
domain). The results show that both junior and senior students report
having very similar expertise level; however, E-ETICA presents a
different factor structure for juniors and four factors explained also
63% of variance: Information E-Searching, Download and Process;
Data analysis; Organization; and Communication technologies.
Abstract: The nutrient composition and sensory properties of
poultry-based patties (PBPs) incorporated with various levels of grey
oyster mushroom (Pleurotus sajor-caju, PSC) were studied. The
PBPs were formulated with either 0%, 25% or 50% of fresh ground
PSC. Results show poultry patty formulated with 25% PSC had
protein content of 17.46% lower than the control patty which had
18.13% but it was not significant. Meanwhile, both cooked poultry
patties containing 25% and 50% PSC significantly recorded lower
concentration of fat at 10.67% and 7.15%, respectively. On the other
hand, poultry patty added with 50% ground PSC shows the highest
concentration of total dietary fibre (TDF) of 4.90 g/100g compared to
poultry patty containing 25% of mushroom (3.40 g/100g) and to the
control (1.90g/100g). In addition, patty incorporated with 25% PSC
had moisture content of 57.91% which is significantly lower than
patty formulated with 50% which had moisture of 61.80%. In the
sensory evaluation, there were no differences recorded in all sensory
attributes of PSC-based patties judged by untrained panelists. In
conclusion, the addition of PSC to replace poultry meat can be
recommended for the purpose of lowering production cost, enhancing
nutritional composition and maintaining the acceptability of poultry
patties.
Abstract: The effect of plant growth-promoting rhizobacteria
(PGPR) on seed germination, seedling growth and yield of field
grown maize were evaluated in three experiments. In these
experiments six bacterial strains include P.putida strain R-168,
P.fluorescens strain R-93, P.fluorescens DSM 50090, P.putida
DSM291, A.lipoferum DSM 1691, A.brasilense DSM 1690 were
used. Results of first study showed seed Inoculation significantly
enhanced seed germination and seedling vigour of maize. In second
experiment, leaf and shoot dry weight and also leaf surface area
significantly were increased by bacterial inoculation in both sterile
and non-sterile soil. The results showed that inoculation with
bacterial treatments had a more stimulating effect on growth and
development of plants in nonsterile than sterile soil. In the third
experiment, Inoculation of maize seeds with all bacterial strains
significantly increased plant height, 100 seed weight, number of seed
per ear and leaf area .The results also showed significant increase in
ear and shoot dry weight of maize.
Abstract: In this paper, a novel multipurpose audio watermarking
algorithm is proposed based on Vector Quantization (VQ) in Discrete
Cosine Transform (DCT) domain using the codeword labeling and
index-bit constrained method. By using this algorithm, it can fulfill the
requirements of both the copyright protection and content integrity
authentication at the same time for the multimedia artworks. The
robust watermark is embedded in the middle frequency coefficients of
the DCT transform during the labeled codeword vector quantization
procedure. The fragile watermark is embedded into the indices of the
high frequency coefficients of the DCT transform by using the
constrained index vector quantization method for the purpose of
integrity authentication of the original audio signals. Both the robust
and the fragile watermarks can be extracted without the original audio
signals, and the simulation results show that our algorithm is effective
with regard to the transparency, robustness and the authentication
requirements
Abstract: Unmanned aerial vehicles (UAVs) performing their
operations for a long time have been attracting much attention in
military and civil aviation industries for the past decade. The
applicable field of UAV is changing from the military purpose only to
the civil one. Because of their low operation cost, high reliability and
the necessity of various application areas, numerous development
programs have been initiated around the world. To obtain the optimal
solutions of the design variable (i.e., sectional airfoil profile, wing
taper ratio and sweep) for high performance of UAVs, both the lift and
lift-to-drag ratio are maximized whereas the pitching moment should
be minimized, simultaneously. It is found that the lift force and
lift-to-drag ratio are linearly dependent and a unique and dominant
solution are existed. However, a trade-off phenomenon is observed
between the lift-to-drag ratio and pitching moment. As the result of
optimization, sixty-five (65) non-dominated Pareto individuals at the
cutting edge of design spaces that are decided by airfoil shapes can be
obtained.
Abstract: In this article we address the problem of mobile robot formation control. Indeed, the most work, in this domain, have studied extensively classical control for keeping a formation of mobile robots. In this work, we design an FLC (Fuzzy logic Controller) controller for separation and bearing control (SBC). Indeed, the leader mobile robot is controlled to follow an arbitrary reference path, and the follower mobile robot use the FSBC (Fuzzy Separation and Bearing Control) to keep constant relative distance and constant angle to the leader robot. The efficiency and simplicity of this control law has been proven by simulation on different situation.
Abstract: Two species of Physalis, P.angulataL. and P.
peruviana L. were used as models for comparative study to
understand the values of micro-morphological, -anatomical and
architectural characteristics of leaf for taxonomic purposes and
possibly breeding and commercial applications. Both speciespossess
amphistomaticleaves with 1-layer epidermis, 3-4-layer spongy
mesophyll andbicollateral bundle midrib. Palisade parenchyma cells
of P. angulatawere almost twice longer (65-75 μm) than the other
one. Type of stomata was similar as anomocyticbut stomatal
index(SI) at adaxial surface and abaxial surface of P. angulata were
less than of P. peruvianaas 3.57, 4.00 and6.25, 6.66 respectively.
Some leaf architectural characteristics such as leaf shape, order of
venationalsoprovided information of taxonomic significance
Abstract: The paper presents a numerical investigation on the
rapid gas decompression in pure nitrogen which is made by using the
one-dimensional (1D) and three-dimensional (3D) mathematical
models of transient compressible non-isothermal fluid flow in pipes.
A 1D transient mathematical model of compressible thermal multicomponent
fluid mixture flow in pipes is presented. The set of the
mass, momentum and enthalpy conservation equations for gas phase
is solved in the model. Thermo-physical properties of multicomponent
gas mixture are calculated by solving the Equation of
State (EOS) model. The Soave-Redlich-Kwong (SRK-EOS) model is
chosen. This model is successfully validated on the experimental data
[1] and shows a good agreement with measurements. A 3D transient
mathematical model of compressible thermal single-component gas
flow in pipes, which is built by using the CFD Fluent code (ANSYS),
is presented in the paper. The set of unsteady Reynolds-averaged
conservation equations for gas phase is solved. Thermo-physical
properties of single-component gas are calculated by solving the Real
Gas Equation of State (EOS) model. The simplest case of gas
decompression in pure nitrogen is simulated using both 1D and 3D
models. The ability of both models to simulate the process of rapid
decompression with a high order of agreement with each other is
tested. Both, 1D and 3D numerical results show a good agreement
between each other. The numerical investigation shows that 3D CFD
model is very helpful in order to validate 1D simulation results if the
experimental data is absent or limited.
Abstract: This paper presents a solution for a robotic
manipulation problem. We formulate the problem as combining
target identification, tracking and interception. The task in our
solution is sensing a target on a conveyor belt and then intercepting
robot-s end-effector at a convenient rendezvous point. We used
an object recognition method which identifies the target and finds
its position from visualized scene picture, then the robot system
generates a solution for rendezvous problem using the target-s initial
position and belt velocity . The interception of the target and the
end-effector is executed at a convenient rendezvous point along the
target-s calculated trajectory. Experimental results are obtained using
a real platform with an industrial robot and a vision system over it.
Abstract: Although the field of parametric Pattern Recognition (PR) has been thoroughly studied for over five decades, the use of the Order Statistics (OS) of the distributions to achieve this has not been reported. The pioneering work on using OS for classification was presented in [1] for the Uniform distribution, where it was shown that optimal PR can be achieved in a counter-intuitive manner, diametrically opposed to the Bayesian paradigm, i.e., by comparing the testing sample to a few samples distant from the mean. This must be contrasted with the Bayesian paradigm in which, if we are allowed to compare the testing sample with only a single point in the feature space from each class, the optimal strategy would be to achieve this based on the (Mahalanobis) distance from the corresponding central points, for example, the means. In [2], we showed that the results could be extended for a few symmetric distributions within the exponential family. In this paper, we attempt to extend these results significantly by considering asymmetric distributions within the exponential family, for some of which even the closed form expressions of the cumulative distribution functions are not available. These distributions include the Rayleigh, Gamma and certain Beta distributions. As in [1] and [2], the new scheme, referred to as Classification by Moments of Order Statistics (CMOS), attains an accuracy very close to the optimal Bayes’ bound, as has been shown both theoretically and by rigorous experimental testing.
Abstract: The present study was carried out to evaluate the
nutritional value of sorghum flour during processing of injera
(unleavened thick bread). The proximate composition of sorghum
flour before and after fermentation and that of injera was determined.
Compared to the raw flour and fermented one, injera had low protein
(11.55%), ash (1.57%) and fat (2.40%) contents but high in fiber
content. Moreover, injera was found to have significantly (P ≤ 0.05)
higher energy (389.08 Kcal/100g) compared to raw and fermented
sorghum flour. Injera contained lower levels of anti-nutritional
factors (polyphenols, phytate and tannins) compared to raw and
fermented sorghum. Also it was found to be rich in Ca
(4.75mg/100g), Fe (3.95 mg/100g), and Cu (0.7 mg/100g) compared
to that of raw and fermented flour. Moreover, both the extractable
minerals and protein digestibility were high for injera due to low
amount of anti-nutrients. Injera was found to contain an appreciable
amount of amino acids except arginine and tyrosine.
Abstract: Due to adverse pressure gradient along the diverging
walls of wide-angled diffusers, the attached flow separates from
one wall and remains attached permanently to the other wall in a
process called stalling. Stalled diffusers render the whole fluid flow
system, in which they are part of, very inefficient. There is then an
engineering need to try to understand the whole process of diffuser
stall if any meaningful attempts to improve on diffuser efficiency
are to be made. In this regard, this paper provides a data bank
contribution for the mean flow-field in wide-angled diffusers where
the complete velocity and static pressure fields, and pressure recovery
data for diffusers in the fully stalled flow regime are experimentally
measured. The measurements were carried out at Reynolds numbers
between 1.07×105 and 2.14×105 based on inlet hydraulic diameter
and centreline velocity for diffusers whose divergence angles were
between 30Ôùª and 50Ôùª. Variation of Reynolds number did not significantly
affect the velocity and static pressure profiles. The wall static
pressure recovery was found to be more sensitive to changes in the
Reynolds number. By increasing the velocity from 10 m/s to 20 m/s,
the wall static pressure recovery increased by 8.31%. However, as the
divergence angle was increased, a similar increase in the Reynolds
number resulted in a higher percentage increase in pressure recovery.
Experimental results showed that regardless of the wall to which
the flow was attached, both the velocity and pressure fields were
replicated with discrepancies below 2%.
Abstract: This article discusses the problem of estimating the
orientation of inclined ground on which a human subject stands based
on information provided by the vestibular system consisting of the
otolith and semicircular canals. It is assumed that body segments are
not necessarily aligned and thus forming an open kinematic chain.
The semicircular canals analogues to a technical gyrometer provide a
measure of the angular velocity whereas the otolith analogues to a
technical accelerometer provide a measure of the translational
acceleration. Two solutions are proposed and discussed. The first is
based on a stand-alone Kalman filter that optimally fuses the two
measurements based on their dynamic characteristics and their noise
properties. In this case, no body dynamic model is needed. In the
second solution, a central extended disturbance observer that
incorporates a body dynamic model (internal model) is employed.
The merits of both solutions are discussed and demonstrated by
experimental and simulation results.
Abstract: A Simultaneous Multithreading (SMT) Processor is
capable of executing instructions from multiple threads in the same
cycle. SMT in fact was introduced as a powerful architecture to
superscalar to increase the throughput of the processor.
Simultaneous Multithreading is a technique that permits multiple
instructions from multiple independent applications or threads to
compete limited resources each cycle. While the fetch unit has been
identified as one of the major bottlenecks of SMT architecture, several
fetch schemes were proposed by prior works to enhance the fetching
efficiency and overall performance.
In this paper, we propose a novel fetch policy called queue situation
identifier (QSI) which counts some kind of long latency instructions of
each thread each cycle then properly selects which threads to fetch
next cycle. Simulation results show that in best case our fetch policy
can achieve 30% on speedup and also can reduce the data cache level 1
miss rate.