Abstract: Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-like robot structure is
more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots.
However, the walking control for bipedal robots is a challenging task
due to their complex dynamics. Stable reference generation plays a very important role in control.
Linear Inverted Pendulum Model (LIPM) and the Zero Moment Point (ZMP) criterion are applied in a number of studies for stable
walking reference generation of biped walking robots. This paper follows this main approach too. We propose a natural and continuous ZMP reference trajectory for a stable and human-like walk. The ZMP reference trajectories move forward under the sole of the support foot when the robot body is supported by a single leg. Robot center of mass trajectory is obtained
from predefined ZMP reference trajectories by a Fourier series
approximation method. The Gibbs phenomenon problem common with Fourier approximations of discontinuous functions is avoided by employing continuous ZMP references. Also, these ZMP reference
trajectories possess pre-assigned single and double support phases,
which are very useful in experimental tuning work.
The ZMP based reference generation strategy is tested via threedimensional
full-dynamics simulations of a 12-degrees-of-freedom
biped robot model. Simulation results indicate that the proposed reference trajectory generation technique is successful.
Abstract: Retrieval of the surface reflectance is important in the
remotely sensed data analysis to obtain the atmospheric reflectance or
atmospheric correction. The relationship between visible and mid
infrared reflectance over land was investigated and developed in this
study. The surface reflectances of the two visible bands were
measured using a handheld spectroradiometer collected around
Penang Island. In this study, we use the assumption that the 2.1 μm
band is not affected by aerosol and it is transparent to most aerosol
types (except dust). Therefore the satellite observed signal is the
same as the surface signal in 2.1 μm band. The correlation between
the surface reflectance measured by the spectroradiometer in the blue
and red region and the 2.1 μm observed by the satellite has been
established. We investigate five dates of Landsat TM scenes in this
study. The finding obtained by this study indicates that the surface
reflectance can be retrieved from the 2.1 μm band.
Abstract: Proton transfer and hydrogen bonding are two aspects
of the chemistry of hydrogen that respectively govern the behaviour
and structure of many molecules, both simple and complex. All the
theoretical enol and keto conformations of 1,3-diphenyl-1,3-
propandion known as dibenzoylmethane (DBM), have been
investigated by means of atoms in molecules (AIM) theory. It was
found that the most stable conformers are those stabilized by
hydrogen bridges.The aim of the present paper is a thorough
conformational analysis of DBM (with special attention on chelated
cis-enol conformers) in order to obtain detailed information on the
geometrical parameters, relative stabilities and rotational motion of
the phenyl groups. It is also important to estimate the barrier height
for ptoton transfer and hydrogen bond strength, which are the main
factors governing conformational stability.
Abstract: Although the Vietnamese catfish farming has grown
at very high rates in recent years, the industry has also faced many
problems affecting its sustainability. This paper studies the
perceptions of catfish farmers regarding risk and risk management
strategies in their production activities. Specifically, the study aims
to measure the consequences, likelihoods, and levels of risks as well
as the efficacy of risk management in Vietnamese catfish farming.
Data for the study were collected through a sample of 261 catfish
farmers in the Mekong Delta, Vietnam using a questionnaire survey
in 2008. Results show that, in general, price and production risks
were perceived as the most important risks. Farm management and
technical measures were perceived more effective than other kinds of
risk management strategies in risk reduction. Although price risks
were rated as important risks, price risk management strategies were
not perceived as important measures for risk mitigation. The results
of the study are discussed to provide implications for various
industry stakeholders, including policy makers, processors, advisors,
and developers of new risk management strategies.
Abstract: In today-s competitive market, most companies
develop manufacturing systems that can help in cost reduction and
maximum quality. Human issues are an important part of
manufacturing systems, yet most companies ignore their effects on
production performance. This paper aims to developing an integrated
workforce planning system that incorporates the human being.
Therefore, a multi-objective mixed integer nonlinear programming
model is developed to determine the amount of hiring, firing,
training, overtime for each worker type. This paper considers a
workforce planning model including human aspects such as skills,
training, workers- personalities, capacity, motivation, and learning
rates. This model helps to minimize the hiring, firing, training and
overtime costs, and maximize the workers- performance. The results
indicate that the workers- differences should be considered in
workforce scheduling to generate realistic plans with minimum costs.
This paper also investigates the effects of human learning rates on the
performance of the production systems.
Abstract: In this study, we present a new and fast algorithm for lung segmentation using CTA images. This process is quite important especially at lung vessel segmentation, detection of pulmonary emboly, finding nodules or segmentation of airways. Applied method has been carried out at four steps. At first step, images have been applied optimal threshold. At the second one, the subsegment vessels, which have a place in lung region and which are in small dimension, have been removed. At the third one, identifying and segmentation of lungs and airway edges have been carried out. Lastly, by throwing away the airway, lung segmentation has been presented.
Abstract: Despite the fact that Knowledge Sharing (KS) is very important, we found only little discussion about the reasons why people have the willingness to share knowledge at such platform even though there is no immediate benefit to the persons who contribute knowledge in it. The aim of this study is to develop an integrative understanding of the factors that support or inhibit individuals- knowledge sharing intentions in virtual communities and to find whether habit would generate people-s willingness to be involved. We apply Social Capital Theory (SCT), and we also add two dimensions for discussion: member incentive and habitual domain (HD). This research assembles the questionnaire from individuals who have experienced knowledge sharing in virtual communities, and applies survey and Structural Equation Model (SEM) to analyze the results from the questionnaires. Finally, results confirm that individuals are willing to share knowledge in virtual communities: (1) if they consider reciprocity, centrality, and have longer tenure in their field, and enjoy helping. (2) if they have the habit of sharing knowledge. This study is useful for the developers of virtual communities to insight into knowledge sharing in cyberspace.
Abstract: The most important property of the Gene Ontology is
the terms. These control vocabularies are defined to provide
consistent descriptions of gene products that are shareable and
computationally accessible by humans, software agent, or other
machine-readable meta-data. Each term is associated with
information such as definition, synonyms, database references, amino
acid sequences, and relationships to other terms. This information has
made the Gene Ontology broadly applied in microarray and
proteomic analysis. However, the process of searching the terms is
still carried out using traditional approach which is based on keyword
matching. The weaknesses of this approach are: ignoring semantic
relationships between terms, and highly depending on a specialist to
find similar terms. Therefore, this study combines semantic similarity
measure and genetic algorithm to perform a better retrieval process
for searching semantically similar terms. The semantic similarity
measure is used to compute similitude strength between two terms.
Then, the genetic algorithm is employed to perform batch retrievals
and to handle the situation of the large search space of the Gene
Ontology graph. The computational results are presented to show the
effectiveness of the proposed algorithm.
Abstract: The strengthening of competitive advantage combined with the transformation of business strategy is necessary for the company to succeed in the time of market changes. And in this sense the innovation activities of the firm are exactly significanting. Virtual firms are a specific form of enterprise in which we can't suppose all regularities obtaining in other forms. The aim of the paper is to evaluate factors influencing the innovation activity of virtual firm with the determination of their importance and influences on the basis of selected metrics.
Abstract: In this work we report the recent progresses that have been achieved by our group in the last half decade on the field of computational proteomics. Specifically, we discuss the application of Molecular Dynamics Simulations and Electronic Structure Calculations in drug design, in the clarification of the structural and dynamic properties of proteins and enzymes and in the understanding of the catalytic and inhibition mechanism of cancer-related enzymes. A set of examples illustrate the concepts and help to introduce the reader into this important and fast moving field.
Abstract: Dehydration behavior gives a hint about thermal properties of materials. It is important for the usage areas and transportation of minerals. Magnesium borates can be used as additive materials in areas such as in the production of superconducting materials, in the composition of detergents, due to the content of boron in the friction-reducing additives in oils and insulating coating compositions due to their good mechanic and thermal properties.
In this study, thermal dehydration behavior of admontite (MgO(B2O3)3.7(H2O)), which is a kind of magnesium borate mineral, is experimented by microwave energy at 360W. Structure of admontite is suitable for the investigation of dehydration behavior by microwave because of its seven moles of crystal water. It is seen that admontite lost its 28.7% of weight at the end of the 120 minutes heating in microwave furnace.
Abstract: In the context of introduction of deregulatory policy measures and subsequent wave of mergers and acquisitions (M&A) in Indian corporate sector since 1991, the present paper attempts to examine the welfare implications of this wave. It is found that M&A do not have any significant impact on consumers- welfare. Instead, consumers- welfare is significantly influenced by exports intensity, imports intensity, advertising intensity, technology related efforts, and past profitability of the firms. While the industries with higher exports orientation or greater product differentiation or better financial performance experience greater loss in consumers- welfare, it is less in the industries with greater competition from imports or better technology. Hence, the wave of M&A in Indian manufacturing sector in the post-liberalization era may not be a matter of serious concern from consumers- welfare point of view. Instead, in many cases, M&A can help the firms in consolidating their business and enhancing competitiveness, and this may benefit the consumers in the form of greater efficiency and lower prices.
Abstract: Exchange algorithm with constraints on magnitude and phase error separately in new way is presented in this paper. An important feature of the algorithms presented in this paper is that they allow for design constraints which often arise in practical filter design problems. Meeting required minimum stopband attenuation or a maximum deviation from the desired magnitude and phase responses in the passbands are common design constraints that can be handled by the methods proposed here. This new algorithm may have important advantages over existing technique, with respect to the speed and stability of convergence, memory requirement and low ripples.
Abstract: In this study, a comparison of two control methods,
Proportional Control (PC) and Fuzzy Logic Control (FLC), which
have been used to develop an ideal thermoelectric renal hypothermia
system in order to use in renal surgery, has been carried out. Since
the most important issues in long-lasting parenchymatous renal
surgery are to provide an operation medium free of blood and to
prevent renal dysfunction in the postoperative period, control of the
temperature has become very important in renal surgery. The final
product is seriously affected from the changes in temperature,
therefore, it is necessary to reach some desired temperature points
quickly and avoid large overshoot. PIC16F877 microcontroller has
been used as controller for both of these two methods. Each control
method can simply ensure extra renal hypothermia in the targeted
way. But investigation of advantages and disadvantages of every
control method to each other is aimed and carried out by the
experimental implementations. Shortly, investigation of the most
appropriate method to use for development of system and that can be
applied to people safely in the future, has been performed. In this
sense, experimental results show that fuzzy logic control gives out
more reliable responses and efficient performance.
Abstract: In data mining, the association rules are used to search
for the relations of items of the transactions database. Following the
data is collected and stored, it can find rules of value through
association rules, and assist manager to proceed marketing strategy
and plan market framework. In this paper, we attempt fuzzy partition
methods and decide membership function of quantitative values of
each transaction item. Also, by managers we can reflect the
importance of items as linguistic terms, which are transformed as
fuzzy sets of weights. Next, fuzzy weighted frequent pattern growth
(FWFP-Growth) is used to complete the process of data mining. The
method above is expected to improve Apriori algorithm for its better
efficiency of the whole association rules. An example is given to
clearly illustrate the proposed approach.
Abstract: The impact of rain attenuation on wireless communication signals is predominant because of the used high frequency (above 10 GHz). The knowledge of statistics of attenuation is very important for planning point-to-point microwave links operating in high frequency band. Describing the statistics of attenuation is possible for instance with fade duration or level crossing rate. In our examination we determine these statistics from one year measured data for a given microwave link, and we are going to make an attempt to transform the level crossing rate statistic to fade duration statistic.
Abstract: In this paper the authors present the framework of a
system for assisting users through counseling on personal health, the
Personal Health Assistance Service Expert System (PHASES).
Personal health assistance systems need Personal Health Records
(PHR), which support wellness activities, improve the understanding
of personal health issues, enable access to data from providers of
health services, strengthen health promotion, and in the end improve
the health of the population. This is especially important in societies
where the health costs increase at a higher rate than the overall
economy. The most important elements of a healthy lifestyle are
related to food (such as balanced nutrition and diets), activities for
body fitness (such as walking, sports, fitness programs), and other
medical treatments (such as massage, prescriptions of drugs). The
PHASES framework uses an ontology of food, which includes
nutritional facts, an expert system keeping track of personal health
data that are matched with medical treatments, and a comprehensive
data transfer between patients and the system.
Abstract: In any trust model, the two information sources that a peer relies on to predict trustworthiness of another peer are direct experience as well as reputation. These two vital components evolve over time. Trust evolution is an important issue, where the objective is to observe a sequence of past values of a trust parameter and determine the future estimates. Unfortunately, trust evolution algorithms received little attention and the proposed algorithms in the literature do not comply with the conditions and the nature of trust. This paper contributes to this important problem in the following ways: (a) presents an algorithm that manages and models trust evolution in a P2P environment, (b) devises new mechanisms for effectively maintaining trust values based on the conditions that influence trust evolution , and (c) introduces a new methodology for incorporating trust-nurture incentives into the trust evolution algorithm. Simulation experiments are carried out to evaluate our trust evolution algorithm.
Abstract: An overview of the important aspects of managing
and controlling industrial effluent discharges to public sewers namely
sampling, characterization, quantification and legislative controls has
been presented. The findings have been validated by means of a case
study covering three industrial sectors namely, tanning, textile
finishing and food processing industries. Industrial effluents
discharges were found to be best monitored by systematic and
automatic sampling and quantified using water meter readings
corrected for evaporative and consumptive losses. Based on the
treatment processes employed in the public owned treatment works
and the chemical oxygen demand and biochemical oxygen demand
levels obtained, the effluent from all the three industrial sectors
studied were found to lie in the toxic zone. Thus, physico-chemical
treatment of these effluents is required to bring them into the
biodegradable zone. KL values (quoted to base e) were greater than
0.50 day-1 compared to 0.39 day-1 for typical municipality
wastewater.
Abstract: Abovepresented work deals with the new scope of application of information and communication technologies for the improvement of the election process in the biased environment. We are introducing a new concept of construction of the information-communication system for the election participant. It consists of four main components: Software, Physical Infrastructure, Structured Information and the Trained Stuff. The Structured Information is the bases of the whole system and is the collection of all possible events (irregularities among them) at the polling stations, which are structured in special templates, forms and integrated in mobile devices.The software represents a package of analytic modules, which operates with the dynamic database. The application of modern communication technologies facilities the immediate exchange of information and of relevant documents between the polling stations and the Server of the participant. No less important is the training of the staff for the proper functioning of the system. The e-training system with various modules should be applied in this respect. The presented methodology is primarily focused on the election processes in the countries of emerging democracies.It can be regarded as the tool for the monitoring of elections process by the political organization(s) and as one of the instruments to foster the spread of democracy in these countries.