Abstract: This paper presents design features of a rescue robot, named CEO Mission II. Its body is designed to be the track wheel type with double front flippers for climbing over the collapse and the rough terrain. With 125 cm. long, 5-joint mechanical arm installed on the robot body, it is deployed not only for surveillance from the top view but also easier and faster access to the victims to get their vital signs. Two cameras and sensors for searching vital signs are set up at the tip of the multi-joint mechanical arm. The third camera is at the back of the robot for driving control. Hardware and software of the system, which controls and monitors the rescue robot, are explained. The control system is used for controlling the robot locomotion, the 5-joint mechanical arm, and for turning on/off devices. The monitoring system gathers all information from 7 distance sensors, IR temperature sensors, 3 CCD cameras, voice sensor, robot wheels encoders, yawn/pitch/roll angle sensors, laser range finder and 8 spare A/D inputs. All sensors and controlling data are communicated with a remote control station via IEEE 802.11b Wi-Fi. The audio and video data are compressed and sent via another IEEE 802.11g Wi-Fi transmitter for getting real-time response. At remote control station site, the robot locomotion and the mechanical arm are controlled by joystick. Moreover, the user-friendly GUI control program is developed based on the clicking and dragging method to easily control the movement of the arm. Robot traveling map is plotted from computing the information of wheel encoders and the yawn/pitch data. 2D Obstacle map is plotted from data of the laser range finder. The concept and design of this robot can be adapted to suit many other applications. As the Best Technique awardee from Thailand Rescue Robot Championship 2006, all testing results are satisfied.
Abstract: The fortified of soft wheat flour with cowpea flour in
bread making was investigated. The Soft wheat flour (SWF) was
substituted by cowpea flour at levels of 5, 15 and 20%. The protein content of composite breads ranged from 6.1 – 9.9%. Significant
difference was observed in moisture, protein and crude fibre contents of control (wheat bread) and composite bread at 5% addition of
cowpea. Water absorption capacities of composite flours increased with increasing levels of cowpea flour in the blend. The specific loaf
volume decreased significantly with increased cowpea content of
blends. The overall acceptability of the 5% cowpea flour content of
composite bread was not significantly different from the control (Soft Wheat-bread) but there is significantly different with increasing the
levels of cowpea flour in the blend more than 5%.
Abstract: This paper discusses a design of nonlinear observer by
a formal linearization method using an application of Chebyshev Interpolation
in order to facilitate processes for synthesizing a nonlinear
observer and to improve the precision of linearization.
A dynamic nonlinear system is linearized with respect to a linearization
function, and a measurement equation is transformed into
an augmented linear one by the formal linearization method which is
based on Chebyshev interpolation. To the linearized system, a linear
estimation theory is applied and a nonlinear observer is derived. To
show effectiveness of the observer design, numerical experiments
are illustrated and they indicate that the design shows remarkable
performances for nonlinear systems.
Abstract: Solid dispersions (SD) of curcuminpolyvinylpyrrolidone
in the ratio of 1:2, 1:4, 1:5, 1:6, and 1:8 were
prepared in an attempt to increase the solubility and dissolution.
Solubility, dissolution, powder X-ray diffraction (XRD), differential
scanning calorimetry (DSC) and Fourier transform infrared
spectroscopy (FTIR) of solid dispersions, physical mixtures (PM)
and curcumin were evaluated. Both solubility and dissolution of
curcumin solid dispersions were significantly greater than those
observed for physical mixtures and intact curcumin. The powder
X-ray diffractograms indicated that the amorphous curcumin was
obtained from all solid dispersions. It was found that the optimum
weight ratio for curcumin:PVP K-30 is 1:6. The 1:6 solid dispersion
still in the amorphous from after storage at ambient temperature for 2
years and the dissolution profile did not significantly different from
freshly prepared.
Abstract: A kinetic model for propane dehydrogenation in an
industrial moving bed reactor is developed based on the reported
reaction scheme. The kinetic parameters and activity constant are
fine tuned with several sets of balanced plant data. Plant data at
different operating conditions is applied to validate the model and
the results show a good agreement between the model
predictions and plant observations in terms of the amount of main
product, propylene produced. The simulation analysis of key
variables such as inlet temperature of each reactor (Tinrx) and
hydrogen to total hydrocarbon ratio (H2/THC) affecting process
performance is performed to identify the operating condition to
maximize the production of propylene. Within the range of operating
conditions applied in the present studies, the operating condition to
maximize the propylene production at the same weighted average
inlet temperature (WAIT) is ΔTinrx1= -2, ΔTinrx2= +1, ΔTinrx3= +1 ,
ΔTinrx4= +2 and ΔH2/THC= -0.02. Under this condition, the surplus
propylene produced is 7.07 tons/day as compared with base case.
Abstract: Studies regarding the determination of population
trend of Lipaphis erysimi (kalt.) and its associated natural enemies in
different Brassica lines along with the effect of gamma radiation on
their population were conducted at Agricultural Research Farm,
Malakandher, Khyber Pakhtunkhwa Agricultural University
Peshawar during spring 2006. Three different Brassica lines F6B3,
F6B6 and F6B7 were used, which were replicated four times in
Randomized Complete Block Design. The data revealed that aphid
infestation invariably stated in all three varieties during last week of
February 2006 (1st observation). The peak population of 4.39 aphids
leaf-1 was s recorded during 2nd week of March and lowest population
of 1.02 aphids leaf-1 was recorded during 5th week of March. The
species of lady bird beetle (Coccinella septempunctata) and Syrphid
fly (Syrphus balteatus) first appeared on 24th February with a mean
number of 0.40 lady bird beetle leaf-1 and 0.87 Syrphid fly leaf-1,
respectively. At the time when aphid population started to increase
the peak population of C. septempunctata (0.70 lady bird beetle leaf-
1) and S. balteatus (1.04 syrphid fly leaf-1) was recorded on the 2nd
week of March. Chrysoperla carnea appeared in the 1st week of
March and their peak population was recorded during the 3rd week of
March with mean population of 1.46 C. carnea leaf-1. Among all the
Brassica lines, F6B7 showed comparatively more resistance as
compared to F6B3 F6B6. F6B3 showed least resistance against L.
erysimi, which was found to be the most susceptible cultivar. F6B7
was also found superior in terms of natural enemies. Maximum
number of all natural enemies was recorded on this variety followed
by F6B6. Lowest number of natural enemies was recorded in F6B3.
No significant effect was recorded for the effect of gamma radiation
on the population of aphids, natural enemies and on the varieties.
Abstract: The present contribution deals with the
thermophoretic deposition of nanoparticles over a rapidly rotating
permeable disk in the presence of partial slip, magnetic field, thermal
radiation, thermal-diffusion, and diffusion-thermo effects. The
governing nonlinear partial differential equations such as continuity,
momentum, energy and concentration are transformed into nonlinear
ordinary differential equations using similarity analysis, and the
solutions are obtained through the very efficient computer algebra
software MATLAB. Graphical results for non-dimensional
concentration and temperature profiles including thermophoretic
deposition velocity and Stanton number (thermophoretic deposition
flux) in tabular forms are presented for a range of values of the
parameters characterizing the flow field. It is observed that slip
mechanism, thermal-diffusion, diffusion-thermo, magnetic field and
radiation significantly control the thermophoretic particles deposition
rate. The obtained results may be useful to many industrial and
engineering applications.
Abstract: Resistance spot welding process comprises of electric,
thermal and mechanical phenomenon, which makes this process
complex and highly non-linear and thus, it becomes difficult to model
it. In order to obtain good weld nugget during spot welding, hit and
trial welds are usually done which is very costly. Therefore the
numerical simulation research has been conducted to understand the
whole process. In this paper three different cases were analyzed by
varying the tip contact area and it was observed that, with the
variation of tip contact area the nugget formation at the faying
surface is affected. The tip contact area of the welding electrode
becomes large with long welding cycles. Therefore in order to
maintain consistency of nugget formation during the welding process,
the current compensation in control feedback is required. If the
contact area of the welding electrode tip is reduced, a large amount of
current flows through the faying surface, as a result of which
sputtering occurs.
Abstract: Bicycle configuration is not as large as those of motorcycles or automobiles, while it indeed composes a complicated dynamic system. People-s requirements on comfortability, controllability and safety grow higher as the research and development technologies improve. The shock absorber affects the vehicle suspension performances enormously. The absorber takes the vibration energy and releases it at a suitable time, keeping the wheel under a proper contact condition with road surface, maintaining the vehicle chassis stability. Suspension design for mountain bicycles is more difficult than that of city bikes since it encounters dynamic variations on road and loading conditions. Riders need a stiff damper as they exert to tread on the pedals when climbing, while a soft damper when they descend downhill. Various switchable shock absorbers are proposed in markets, however riders have to manually switch them among soft, hard and lock positions. This study proposes a novel design of the bicycle shock absorber, which provides automatic smooth tuning of the damping coefficient, from a predetermined lower bound to theoretically unlimited. An automatic quick releasing valve is involved in this design so that it can release the peak pressure when the suspension fork runs into a square-wave type obstacle and prevent the chassis from damage, avoiding the rider skeleton from injury. This design achieves the automatic tuning process by innovative plunger valve and fluidic passage arrangements without any electronic devices. Theoretical modelling of the damper and spring are established in this study. Design parameters of the valves and fluidic passages are determined. Relations between design parameters and shock absorber performances are discussed in this paper. The analytical results give directions to the shock absorber manufacture.
Abstract: Data of wave height and wind speed were collected
from three existing oil fields in South China Sea – offshore
Peninsular Malaysia, Sarawak and Sabah regions. Extreme values
and other significant data were employed for analysis. The data were
recorded from 1999 until 2008. The results show that offshore
structures are susceptible to unacceptable motions initiated by wind
and waves with worst structural impacts caused by extreme wave
heights. To protect offshore structures from damage, there is a need
to quantify descriptive statistics and determine spectra envelope of
wind speed and wave height, and to ascertain the frequency content
of each spectrum for offshore structures in the South China Sea
shallow waters using measured time series. The results indicate that
the process is nonstationary; it is converted to stationary process by
first differencing the time series. For descriptive statistical analysis,
both wind speed and wave height have significant influence on the
offshore structure during the northeast monsoon with high mean wind
speed of 13.5195 knots ( = 6.3566 knots) and the high mean wave
height of 2.3597 m ( = 0.8690 m). Through observation of the
spectra, there is no clear dominant peak and the peaks fluctuate
randomly. Each wind speed spectrum and wave height spectrum has
its individual identifiable pattern. The wind speed spectrum tends to
grow gradually at the lower frequency range and increasing till it
doubles at the higher frequency range with the mean peak frequency
range of 0.4104 Hz to 0.4721 Hz, while the wave height tends to
grow drastically at the low frequency range, which then fluctuates
and decreases slightly at the high frequency range with the mean
peak frequency range of 0.2911 Hz to 0.3425 Hz.
Abstract: The aim of this paper is to present a comparative
study on two different methods for the evaluation of the equilibrium
point of a ship, core issue for designing an On Board Stability System
(OBSS) module that, starting from geometry information of a ship
hull, described by a discrete model in a standard format, and the
distribution of all weights onboard calculates the ship floating
conditions (in draught, heel and trim).
Abstract: In this research work, investigations are carried out on
Continuous Wave (CW) Nd:YAG laser welding system after
preliminary experimentation to understand the influencing parameters
associated with laser welding of AISI 304. The experimental
procedure involves a series of laser welding trials on AISI 304
stainless steel sheets with various combinations of process parameters
like beam power, beam incident angle and beam incident angle. An
industrial 2 kW CW Nd:YAG laser system, available at Welding
Research Institute (WRI), BHEL Tiruchirappalli, is used for
conducting the welding trials for this research. After proper tuning of
laser beam, laser welding experiments are conducted on AISI 304
grade sheets to evaluate the influence of various input parameters on
weld bead geometry i.e. bead width (BW) and depth of penetration
(DOP). From the laser welding results, it is noticed that the beam
power and welding speed are the two influencing parameters on
depth and width of the bead. Three dimensional finite element
simulation of high density heat source have been performed for laser
welding technique using finite element code ANSYS for predicting
the temperature profile of laser beam heat source on AISI 304
stainless steel sheets. The temperature dependent material properties
for AISI 304 stainless steel are taken into account in the simulation,
which has a great influence in computing the temperature profiles.
The latent heat of fusion is considered by the thermal enthalpy of
material for calculation of phase transition problem. A Gaussian
distribution of heat flux using a moving heat source with a conical
shape is used for analyzing the temperature profiles. Experimental
and simulated values for weld bead profiles are analyzed for stainless
steel material for different beam power, welding speed and beam
incident angle. The results obtained from the simulation are
compared with those from the experimental data and it is observed
that the results of numerical analysis (FEM) are in good agreement
with experimental results, with an overall percentage of error
estimated to be within ±6%.
Abstract: In this paper, we observe that developed countries are generally equipped with innovation capabilities and produce major chunk of the world-s knowledge and technology. The contribution of developing countries, on the other hand, is insignificant, and most of them far behind the global technological front. More specifically, we empirically observe that the developing world neither contributes substantially to the world-s scientific publications nor to the R&D activities. They also have lesser “absorptive capacity" and “technological capability", and their “innovation systems" are plagued with many problems. Finally, we argue that these countries can break the shackles and improve their innovation capabilities by pursuing genuine innovation policies on long-term basis with honesty and commitment.
Abstract: We consider optimal channel equalization for MIMO
(multi-input/multi-output) time-varying channels in the sense of
MMSE (minimum mean-squared-error), where the observation noise
can be non-stationary. We show that all ZF (zero-forcing) receivers
can be parameterized in an affine form which eliminates completely
the ISI (inter-symbol-interference), and optimal channel equalizers
can be designed through minimization of the MSE (mean-squarederror)
between the detected signals and the transmitted signals,
among all ZF receivers. We demonstrate that the optimal channel
equalizer is a modified Kalman filter, and show that under the AWGN
(additive white Gaussian noise) assumption, the proposed optimal
channel equalizer minimizes the BER (bit error rate) among all
possible ZF receivers. Our results are applicable to optimal channel
equalization for DWMT (discrete wavelet multitone), multirate transmultiplexers,
OFDM (orthogonal frequency division multiplexing),
and DS (direct sequence) CDMA (code division multiple access)
wireless data communication systems. A design algorithm for optimal
channel equalization is developed, and several simulation examples
are worked out to illustrate the proposed design algorithm.
Abstract: Development of artificial neural network (ANN) for
prediction of aluminum workpieces' surface roughness in ultrasonicvibration
assisted turning (UAT) has been the subject of the present
study. Tool wear as the main cause of surface roughness was also
investigated. ANN was trained through experimental data obtained
on the basis of full factorial design of experiments. Various
influential machining parameters were taken into consideration. It
was illustrated that a multilayer perceptron neural network could
efficiently model the surface roughness as the response of the
network, with an error less than ten percent. The performance of the
trained network was verified by further experiments. The results of
UAT were compared with the results of conventional turning
experiments carried out with similar machining parameters except for
the vibration amplitude whence considerable reduction was observed
in the built-up edge and the surface roughness.
Abstract: The application of a Static Synchronous Series Compensator (SSSC) controller to improve the transient stability performance of a power system is thoroughly investigated in this paper. The design problem of SSSC controller is formulated as an optimization problem and Particle Swarm Optimization (PSO) Technique is employed to search for optimal controller parameters. By minimizing the time-domain based objective function, in which the deviation in the oscillatory rotor angle of the generator is involved; transient stability performance of the system is improved. The proposed controller is tested on a weakly connected power system subjected to different severe disturbances. The non-linear simulation results are presented to show the effectiveness of the proposed controller and its ability to provide efficient damping of low frequency oscillations. It is also observed that the proposed SSSC controller improves greatly the voltage profile of the system under severe disturbances.
Abstract: The main purpose of this research was to analyze Socio-Cultural obstacles of disseminating of nanotechnology in Iran's agricultural section. One hundred twenty eight out of a total of 190 researchers with different levels of expertise in and familiarity with nanotechnology were randomly selected and questionnaires completed by them. Face validity have been done by expert's suggestion and correction, reliability by using Cronbakh-Alpha formula. The results of a factor analysis showed variation for different factors. For cultural factors 19/475 percent, for management 13/139 percent, information factor 11/277 percent, production factor 9/703 percent, social factor 9/267 percent, and for attitude factor it became 8/947 percent. Also results indicated that socio-cultural factors were the most important obstacle for nanotechnology dissemination in agricultural section in Iran.
Abstract: In this paper, we have combined some spatial derivatives with the optimised time derivative proposed by Tam and Webb in order to approximate the linear advection equation which is given by = 0. Ôêé Ôêé + Ôêé Ôêé x f t u These spatial derivatives are as follows: a standard 7-point 6 th -order central difference scheme (ST7), a standard 9-point 8 th -order central difference scheme (ST9) and optimised schemes designed by Tam and Webb, Lockard et al., Zingg et al., Zhuang and Chen, Bogey and Bailly. Thus, these seven different spatial derivatives have been coupled with the optimised time derivative to obtain seven different finite-difference schemes to approximate the linear advection equation. We have analysed the variation of the modified wavenumber and group velocity, both with respect to the exact wavenumber for each spatial derivative. The problems considered are the 1-D propagation of a Boxcar function, propagation of an initial disturbance consisting of a sine and Gaussian function and the propagation of a Gaussian profile. It is known that the choice of the cfl number affects the quality of results in terms of dissipation and dispersion characteristics. Based on the numerical experiments solved and numerical methods used to approximate the linear advection equation, it is observed in this work, that the quality of results is dependent on the choice of the cfl number, even for optimised numerical methods. The errors from the numerical results have been quantified into dispersion and dissipation using a technique devised by Takacs. Also, the quantity, Exponential Error for Low Dispersion and Low Dissipation, eeldld has been computed from the numerical results. Moreover, based on this work, it has been found that when the quantity, eeldld can be used as a measure of the total error. In particular, the total error is a minimum when the eeldld is a minimum.
Abstract: The present study is concerned with the effect of
exciting boundary layer on cooling process in a gas-turbine blades.
The cooling process is numerically investigated. Observations show
cooling the first row of moving or stable blades leads to increase
their life-time. Results show that minimum temperature in cooling
line with exciting boundary layer is lower than without exciting.
Using block in cooling line of turbines' blade causes flow pattern and
stability in boundary layer changed that causes increase in heat
transfer coefficient. Results show at the location of block,
temperature of turbines' blade is significantly decreased. The k-ε
turbulence model is used.
Abstract: The urbanization phenomenon in Yogyakarta Special
Province, Indonesia, encouraged people move to the city for getting
jobs in the informal sectors. They live in some temporary houses in
the three main riverbanks: Gadjahwong, Code, and Winongo.
Triggered by its independent status they use it as the space for
accommodating domestic, social and economy activities because of
the non standardized room size of their houses, where are recognized
as the environmental hazards. This recognition makes the ambivalent
perception when was related to the twelfth point of the philosophy of
community development concept: the empowering individuals and
communities. Its spatial implication have actually described the
territory and the place making phenomena. By analyzing some data
collected the author-s fundamental research funded by The General
Directorate of Higher Education of Indonesia, this paper will discuss
how do the spatial implications of the occupants- behavior and the
numerous perceptions of those phenomena.