Abstract: This paper proposes a solution to the motion planning
and control problem of a point-mass robot which is required to move
safely to a designated target in a priori known workspace cluttered
with fixed elliptical obstacles of arbitrary position and sizes. A
tailored and unique algorithm for target convergence and obstacle
avoidance is proposed that will work for any number of fixed
obstacles. The control laws proposed in this paper also ensures that
the equilibrium point of the given system is asymptotically stable.
Computer simulations with the proposed technique and applications
to a planar (RP) manipulator will be presented.
Abstract: Application-Specific Instruction (ASI ) set Processors
(ASIP) have become an important design choice for embedded
systems due to runtime flexibility, which cannot be provided by
custom ASIC solutions. One major bottleneck in maximizing ASIP
performance is the limitation on the data bandwidth between the
General Purpose Register File (GPRF) and ASIs. This paper presents
the Implicit Registers (IRs) to provide the desirable data bandwidth.
An ASI Input/Output model is proposed to formulate the overheads of
the additional data transfer between the GPRF and IRs, therefore,
an IRs allocation algorithm is used to achieve the better performance
by minimizing the number of extra data transfer instructions. The
experiment results show an up to 3.33x speedup compared to the
results without using IRs.
Abstract: Current technological advances pale in comparison to the changes in social behaviors and 'sense of place' that is being empowered since the Internet made it on the scene. Today-s students view the Internet as both a source of entertainment and an educational tool. The development of virtual environments is a conceptual framework that needs to be addressed by educators and it is important that they become familiar with who these virtual learners are and how they are motivated to learn. Massively multiplayer online role playing games (MMORPGs), if well designed, could become the vehicle of choice to deliver learning content. We suggest that these games, in order to accomplish these goals, must begin with well-established instructional design principles that are co-aligned with established principles of video game design. And have the opportunity to provide an instructional model of significant prescriptive power. The authors believe that game designers need to take advantage of the natural motivation player-learners have for playing games by developing them in such a way so as to promote, intrinsic motivation, content learning, transfer of knowledge, and naturalization.
Abstract: Study on suppression of interference in time domain equalizers is attempted for high data rate impulse radio (IR) ultra wideband communication system. The narrow band systems may cause interference with UWB devices as it is having very low transmission power and the large bandwidth. SRAKE receiver improves system performance by equalizing signals from different paths. This enables the use of SRAKE receiver techniques in IRUWB systems. But Rake receiver alone fails to suppress narrowband interference (NBI). A hybrid SRake-MMSE time domain equalizer is proposed to overcome this by taking into account both the effect of the number of rake fingers and equalizer taps. It also combats intersymbol interference. A semi analytical approach and Monte-Carlo simulation are used to investigate the BER performance of SRAKEMMSE receiver on IEEE 802.15.3a UWB channel models. Study on non-line of sight indoor channel models (both CM3 and CM4) illustrates that bit error rate performance of SRake-MMSE receiver with NBI performs better than that of Rake receiver without NBI. We show that for a MMSE equalizer operating at high SNR-s the number of equalizer taps plays a more significant role in suppressing interference.
Abstract: This paper presents a new version of the SVM mixture algorithm initially proposed by Kwok for classification and regression problems. For both cases, a slight modification of the mixture model leads to a standard SVM training problem, to the existence of an exact solution and allows the direct use of well known decomposition and working set selection algorithms. Only the regression case is considered in this paper but classification has been addressed in a very similar way. This method has been successfully applied to engine pollutants emission modeling.
Abstract: In this paper, the trajectory tracking problem for carlike mobile robots have been studied. The system comprises of a leader and a follower robot. The purpose is to control the follower so that the leader-s trajectory is tracked with arbitrary desired clearance to avoid inter-robot collision while navigating in a terrain with obstacles. A set of artificial potential field functions is proposed using the Direct Method of Lyapunov for the avoidance of obstacles and attraction to their designated targets. Simulation results prove the efficiency of our control technique.
Abstract: In the present article, nonlinear vibration analysis of
single layer graphene sheets is presented and the effect of small
length scale is investigated. Using the Hamilton's principle, the three
coupled nonlinear equations of motion are obtained based on the von
Karman geometrical model and Eringen theory of nonlocal
continuum. The solutions of Free nonlinear vibration, based on a one
term mode shape, are found for both simply supported and clamped
graphene sheets. A complete analysis of graphene sheets with
movable as well as immovable in-plane conditions is also carried out.
The results obtained herein are compared with those available in the
literature for classical isotropic rectangular plates and excellent
agreement is seen. Also, the nonlinear effects are presented as
functions of geometric properties and small scale parameter.
Abstract: Today-s Wi Fi generation utilize the latest technology in their daily lives. Instructors at National University, the second largest non profit private institution of higher learning in California, are incorporating these new tools to modify their Online class formats to better accommodate these new skills in their distance education delivery modes. The University provides accelerated learning in a one-course per month format both Onsite and Online. Since there has been such a significant increase in Online classes over the past three years, and it is expected to grow even more over the over the next five years, Instructors cannot afford to maintain the status quo and not take advantage of these new options. It is at the discretion of the instructors which accessory they use and how comfortable and familiar they are with the technology. This paper explores the effects and summarizes students- comments of some of these new technological options which have been recently provided in order to make students- online learning experience more exciting and meaningful.
Abstract: Neonatal lupus erythematous (NLE) is a rare disease marked by clinical characteristic and specific maternal autoantibody. Many cutaneous, cardiac, liver, and hematological manifestations could happen with affect of one organ or multiple. In this case, both babies were premature, low birth weight (LBW), small for gestational age (SGA) and born through caesarean section from a systemic lupus erythematous (SLE) mother. In the first case, we found a baby girl with dyspnea and grunting. Chest X ray showed respiratory distress syndrome (RDS) great I and echocardiography showed small atrial septal defect (ASD) and ventricular septal defect (VSD). She also developed anemia, thrombocytopenia, elevated C-reactive protein, hypoalbuminemia, increasing coagulation factors, hyperbilirubinemia, and positive blood culture of Klebsiella pneumonia. Anti-Ro/SSA and Anti-nRNP/sm were positive. Intravenous fluid, antibiotic, transfusion of blood, thrombocyte concentrate, and fresh frozen plasma were given. The second baby, male presented with necrotic tissue on the left ear and skin rashes, erythematous macula, athropic scarring, hyperpigmentation on all of his body with various size and facial haemorrhage. He also suffered from thrombocytopenia, mild elevated transaminase enzyme, hyperbilirubinemia, anti-Ro/SSA was positive. Intravenous fluid, methyprednisolone, intravenous immunoglobulin (IVIG), blood, and thrombocyte concentrate transfution were given. Two cases of neonatal lupus erythematous had been presented. Diagnosis based on clinical presentation and maternal auto antibody on neonate. Organ involvement in NLE can occur as single or multiple manifestations.
Abstract: A feasibility study for the design and construction of a
pilot plant for the extraction of castor oil in South Africa was
conducted. The study emphasized the four critical aspects of project
feasibility analysis, namely technical, financial, market and
managerial aspects. The technical aspect involved research on
existing oil extraction technologies, namely: mechanical pressing and
solvent extraction, as well as assessment of the proposed production
site for both short and long term viability of the project. The site is
on the outskirts of Nkomazi village in the Mpumalanga province,
where connections for water and electricity are currently underway,
potential raw material supply proves to be reliable since the province
is known for its commercial farming. The managerial aspect was
evaluated based on the fact that the current producer of castor oil will
be fully involved in the project while receiving training and technical
assistance from Sasol Technology, the TSC and SEDA. Market and
financial aspects were evaluated and the project was considered
financially viable with a Net Present Value (NPV) of R2 731 687 and
an Internal Rate of Return (IRR) of 18% at an annual interest rate of
10.5%. The payback time is 6years for analysis over the first 10
years with a net income of R1 971 000 in the first year. The project
was thus found to be feasible with high chance of success while
contributing to socio-economic development. It was recommended
for lab tests to be conducted to establish process kinetics that would
be used in the initial design of the plant.
Abstract: Durian husk (DH), a fruit waste, was studied for its ability to remove Basic blue 3 (BB3) from aqueous solutions. Batch kinetic studies were carried out to study the sorption characteristics under various experimental conditions. The optimum pH for the dye removal occurred in the pH range of 3-10. Sorption was found to be concentration and agitation dependent. The kinetics of dye sorption fitted a pseudo-second order rate expression. Both Langmuir and Freundlich models appeared to provide reasonable fittings for the sorption data of BB3 on durian husk. Maximum sorption capacity calculated from the Langmuir model is 49.50 mg g-1.
Abstract: Full search block matching algorithm is widely used for hardware implementation of motion estimators in video compression algorithms. In this paper we are proposing a new architecture, which consists of a 2D parallel processing unit and a 1D unit both working in parallel. The proposed architecture reduces both data access power and computational power which are the main causes of power consumption in integer motion estimation. It also completes the operations with nearly the same number of clock cycles as compared to a 2D systolic array architecture. In this work sum of absolute difference (SAD)-the most repeated operation in block matching, is calculated in two steps. The first step is to calculate the SAD for alternate rows by a 2D parallel unit. If the SAD calculated by the parallel unit is less than the stored minimum SAD, the SAD of the remaining rows is calculated by the 1D unit. Early termination, which stops avoidable computations has been achieved with the help of alternate rows method proposed in this paper and by finding a low initial SAD value based on motion vector prediction. Data reuse has been applied to the reference blocks in the same search area which significantly reduced the memory access.
Abstract: This paper explores the issues that influence online retailing in Saudi Arabia. Retailers in Saudi Arabia have been reserved in their adoption of electronically delivered aspects of their business. Despite the fact that Saudi Arabia has the largest and fastest growth of ICT marketplaces in the Arab region, e-commerce activities are not progressing at the same speed. Only very few Saudi companies, mostly medium and large companies from the manufacturing sector, are involved in e-commerce implementation. Based on qualitative data collected by conducting interviews with 16 retailers and 16 potential customers in Saudi Arabia, several factors influencing online retailing diffusion in Saudi Arabia are identified. However, government support comes the highest and most influencing factor for online retailing growth as identified by both parties; retailers and potential customers in Saudi Arabia.
Abstract: Natural convection heat transfer from a heated
horizontal semi-circular cylinder (flat surface upward) has been
investigated for the following ranges of conditions; Grashof number,
and Prandtl number. The governing partial differential equations
(continuity, Navier-Stokes and energy equations) have been solved
numerically using a finite volume formulation. In addition, the role of
the type of the thermal boundary condition imposed at cylinder
surface, namely, constant wall temperature (CWT) and constant heat
flux (CHF) are explored. Natural convection heat transfer from a
heated horizontal semi-circular cylinder (flat surface upward) has
been investigated for the following ranges of conditions; Grashof
number, and Prandtl number, . The governing partial differential
equations (continuity, Navier-Stokes and energy equations) have
been solved numerically using a finite volume formulation. In
addition, the role of the type of the thermal boundary condition
imposed at cylinder surface, namely, constant wall temperature
(CWT) and constant heat flux (CHF) are explored. The resulting flow
and temperature fields are visualized in terms of the streamline and
isotherm patterns in the proximity of the cylinder. The flow remains
attached to the cylinder surface over the range of conditions spanned
here except that for and ; at these conditions, a separated flow
region is observed when the condition of the constant wall
temperature is prescribed on the surface of the cylinder. The heat
transfer characteristics are analyzed in terms of the local and average
Nusselt numbers. The maximum value of the local Nusselt number
always occurs at the corner points whereas it is found to be minimum
at the rear stagnation point on the flat surface. Overall, the average
Nusselt number increases with Grashof number and/ or Prandtl
number in accordance with the scaling considerations. The numerical
results are used to develop simple correlations as functions of
Grashof and Prandtl number thereby enabling the interpolation of the
present numerical results for the intermediate values of the Prandtl or
Grashof numbers for both thermal boundary conditions.
Abstract: in this work, we present a new strategy of direct adaptive control denoted: Extended minimal controller synthesis (EMCS). This algorithm is designed for an induction motor, which includes both electrical and mechanical dynamics under the assumptions of linear magnetic circuits. The main motivation of the EMCS control is to enhance the robustness of the MRAC algorithms, i.e. the rejection of bounded effects of rapidly varying external disturbances.
Abstract: It has often been said that the strength of any country
resides in the strength of its industrial sector, and Progress in
industrial society has been accomplished by the creation of new
technologies. Developments have been facilitated by the increasing
availability of advanced manufacturing technology (AMT), in
addition the implementation of advanced manufacturing technology
(AMT) requires careful planning at all levels of the organization to
ensure that the implementation will achieve the intended goals.
Justification and implementation of advanced manufacturing
technology (AMT) involves decisions that are crucial for the
practitioners regarding the survival of business in the present days of
uncertain manufacturing world. This paper assists the industrial
managers to consider all the important criteria for success AMT
implementation, when purchasing new technology. Concurrently,
this paper classifies the tangible benefits of a technology that are
evaluated by addressing both cost and time dimensions, and the
intangible benefits are evaluated by addressing technological,
strategic, social and human issues to identify and create awareness of
the essential elements in the AMT implementation process and
identify the necessary actions before implementing AMT.
Abstract: Large metal and concrete structures suffer by various kinds of deterioration, and accurate prediction of the remaining life is important. This paper informs about two methods for its assessment. One method, suitable for steel bridges and other constructions exposed to fatigue, monitors the loads and damage accumulation using information systems for the operation and the finite element model of the construction. In addition to the operation load, the dead weight of the construction and thermal stresses can be included into the model. The second method is suitable for concrete bridges and other structures, which suffer by carbonatation and other degradation processes, driven by diffusion. The diffusion constant, important for the prediction of future development, can be determined from the depth-profile of pH, obtained by pH measurement at various depths. Comparison with measurements on real objects illustrates the suitability of both methods.
Abstract: The construction of a civil structure inside a urban
area inevitably modifies the outdoor microclimate at the building
site. Wind speed, wind direction, air pollution, driving rain, radiation
and daylight are some of the main physical aspects that are subjected
to the major changes. The quantitative amount of these modifications
depends on the shape, size and orientation of the building and on its
interaction with the surrounding environment.The flow field over a
flat roof model building has been numerically investigated in order to
determine two-dimensional CFD guidelines for the calculation of the
turbulent flow over a structure immersed in an atmospheric boundary
layer. To this purpose, a complete validation campaign has been
performed through a systematic comparison of numerical simulations
with wind tunnel experimental data.Several turbulence models and
spatial node distributions have been tested for five different vertical
positions, respectively from the upstream leading edge to the
downstream bottom edge of the analyzed model. Flow field
characteristics in the neighborhood of the building model have been
numerically investigated, allowing a quantification of the capabilities
of the CFD code to predict the flow separation and the extension of
the recirculation regions.The proposed calculations have allowed the
development of a preliminary procedure to be used as a guidance in
selecting the appropriate grid configuration and corresponding
turbulence model for the prediction of the flow field over a twodimensional
roof architecture dominated by flow separation.
Abstract: This paper proposed high level feature for online Lao handwritten recognition. This feature must be high level enough so that the feature is not change when characters are written by different persons at different speed and different proportion (shorter or longer stroke, head, tail, loop, curve). In this high level feature, a character is divided in to sequence of curve segments where a segment start where curve reverse rotation (counter clockwise and clockwise). In each segment, following features are gathered cumulative change in direction of curve (- for clockwise), cumulative curve length, cumulative length of left to right, right to left, top to bottom and bottom to top ( cumulative change in X and Y axis of segment). This feature is simple yet robust for high accuracy recognition. The feature can be gather from parsing the original time sampling sequence X, Y point of the pen location without re-sampling. We also experiment on other segmentation point such as the maximum curvature point which was widely used by other researcher. Experiments results show that the recognition rates are at 94.62% in comparing to using maximum curvature point 75.07%. This is due to a lot of variations of turning points in handwritten.
Abstract: In this paper, fully developed flow and heat transfer of
viscoelastic materials in curved ducts with square cross section under
constant heat flux have been investigated. Here, staggered mesh is
used as computational grids and flow and heat transfer parameters
have been allocated in this mesh with marker and cell method.
Numerical solution of governing equations has being performed with
FTCS finite difference method. Furthermore, Criminale-Eriksen-
Filbey (CEF) constitutive equation has being used as viscoelastic
model. CEF constitutive equation is a suitable model for studying
steady shear flow of viscoelastic materials which is able to model
both effects of the first and second normal stress differences. Here, it
is shown that the first and second normal stresses differences have
noticeable and inverse effect on secondary flows intensity and mean
Nusselt number which is the main novelty of current research.