Abstract: A multivariable discontinuous feedback linearization approach is proposed to position control of an electrically driven fast robot manipulator. A desired performance is achieved by selecting a useful controller and suitable sampling rate and considering saturation for actuators. There is a high flexibility to apply the proposed control approach on different electrically driven manipulators. The control approach can guarantee the stability and satisfactory tracking performance. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a desired performance for control system under technical specifications.
Abstract: This present paper proposes the modified Elastic Strip
method for mobile robot to avoid obstacles with a real time system in
an uncertain environment. The method deals with the problem of
robot in driving from an initial position to a target position based on
elastic force and potential field force. To avoid the obstacles, the
robot has to modify the trajectory based on signal received from the
sensor system in the sampling times. It was evident that with the
combination of Modification Elastic strip and Pseudomedian filter to
process the nonlinear data from sensor uncertainties in the data
received from the sensor system can be reduced. The simulations and
experiments of these methods were carried out.
Abstract: Testing accounts for the major percentage of technical
contribution in the software development process. Typically, it
consumes more than 50 percent of the total cost of developing a
piece of software. The selection of software tests is a very important
activity within this process to ensure the software reliability
requirements are met. Generally tests are run to achieve maximum
coverage of the software code and very little attention is given to the
achieved reliability of the software. Using an existing methodology,
this paper describes how to use Bayesian Belief Networks (BBNs) to
select unit tests based on their contribution to the reliability of the
module under consideration. In particular the work examines how the
approach can enhance test-first development by assessing the quality
of test suites resulting from this development methodology and
providing insight into additional tests that can significantly reduce
the achieved reliability. In this way the method can produce an
optimal selection of inputs and the order in which the tests are
executed to maximize the software reliability. To illustrate this
approach, a belief network is constructed for a modern software
system incorporating the expert opinion, expressed through
probabilities of the relative quality of the elements of the software,
and the potential effectiveness of the software tests. The steps
involved in constructing the Bayesian Network are explained as is a
method to allow for the test suite resulting from test-driven
development.
Abstract: Cancer becomes one of the leading cause of death in
many countries over the world. Fourier-transform infrared (FTIR)
spectra of human lung cancer cells (A549) treated with PMF (natural
product extracted from PM 701) for different time intervals were
examined. Second derivative and difference method were taken in
comparison studies. Cesium (Cs) and Rubidium (Rb) nanoparticles in
PMF were detected by Energy Dispersive X-ray attached to Scanning
Electron Microscope SEM-EDX. Characteristic changes in protein
secondary structure, lipid profile and changes in the intensities of
DNA bands were identified in treated A549 cells spectra. A
characteristic internucleosomal ladder of DNA fragmentation was
also observed after 30 min of treatment. Moreover, the pH values
were significantly increases upon treatment due to the presence of Cs
and Rb nanoparticles in the PMF fraction. These results support the
previous findings that PMF is selective anticancer agent and can
produce apoptosis to A549 cells.
Abstract: This paper proposes a new approach to offer a private
cloud service in HPC clusters. In particular, our approach relies on
automatically scheduling users- customized environment request as a
normal job in batch system. After finishing virtualization request jobs,
those guest operating systems will dismiss so that compute nodes will
be released again for computing. We present initial work on the
innovative integration of HPC batch system and virtualization tools
that aims at coexistence such that they suffice for meeting the
minimizing interference required by a traditional HPC cluster. Given
the design of initial infrastructure, the proposed effort has the potential
to positively impact on synergy model. The results from the
experiment concluded that goal for provisioning customized cluster
environment indeed can be fulfilled by using virtual machines, and
efficiency can be improved with proper setup and arrangements.
Abstract: The influence of human activities produced by dams
along the river beds is minor, but the location of accumulation of
water directly influences the hydrological regime. The most
important effect of the influence of damming on the way water flows
decreases the frequency of floods. The water rate controls the water
flow of the dams. These natural reservoirs become dysfunctional and,
as a result, a new distribution of flow in the downstream sector,
where maximum flow is, brings about, in this case, higher values. In
addition to fishing, middle and lower courses of rivers located by
accumulation also have a role in mitigating flood waves, thus
providing flood protection. The Vaslui also ensures a good part of the
needs of the town water supply. The most important lake is Solesti,
close to the Vaslui River, opened in 1974. A hydrological regime of
accumulation is related to an anthropogenic and natural drainage
system. The design conditions and their manoeuvres drain or fill the
water courses.
Abstract: The pavement constructions on soft and expansive soils are not durable and unable to sustain heavy traffic loading. As a result, pavement failures and settlement problems will occur very often even under light traffic loading due to cyclic and rolling effects. Geotechnical engineers have dwelled deeply into this matter, and adopt various methods to improve the engineering characteristics of soft fine-grained soils and expansive soils. The problematic soils are either replaced by good and better quality material or treated by using chemical stabilization with various binding materials. Increased the strength and durability are also the part of the sustainability drive to reduce the environment footprint of the built environment by the efficient use of resources and waste recycle materials. This paper presents a series of laboratory tests and evaluates the effect of cement and fly ash on the strength and drainage characteristics of soil in Miri. The tests were performed at different percentages of cement and fly ash by dry weight of soil. Additional tests were also performed on soils treated with the combinations of fly ash with cement and lime. The results of this study indicate an increase in unconfined compression strength and a decrease in hydraulic conductivity of the treated soil.
Abstract: The selection of parents and breeding strategies for
the successful maize hybrid production will be facilitated by
heterotic groupings of parental lines and determination of combining
abilities of them. Fourteen maize inbred lines, used in maize breeding
programs in Iran, were crossed in a diallel mating design. The 91 F1
hybrids and the 14 parental lines were studied during two years at
four locations of Iran for investigation of combining ability of
gentypes for grain yield and to determine heterotic patterns among
germplasm sources, using both, the Griffing-s method and the biplot
approach for diallel analysis. The graphical representation offered by
biplot analysis allowed a rapid and effective overview of general
combining ability (GCA) and specific combining ability (SCA)
effects of the inbred lines, their performance in crosses, as well as
grouping patterns of similar genotypes. GCA and SCA effects were
significant for grain yield (GY). Based on significant positive GCA
effects, the lines derived from LSC could be used as parent in crosses
to increase GY. The maximum best- parent heterosis values and
highest SCA effects resulted from crosses B73 × MO17 and A679 ×
MO17 for GY. The best heterotic patterns were LSC × RYD, which
would be potentially useful in maize breeding programs to obtain
high-yielding hybrids in the same climate of Iran.
Abstract: This paper proposes the concept of aerocapture with
aerodynamic-environment-adaptive variable geometry flexible
aeroshell that vehicle deploys. The flexible membrane is composed
of thin-layer film or textile as its aeroshell in order to solve some
problems obstructing realization of aerocapture technique.
Multi-objective optimization study is conducted to investigate
solutions and derive design guidelines. As a result, solutions which
can avoid aerodynamic heating and enlarge the corridor width up
to 10% are obtained successfully, so that the effectiveness of this
concept can be demonstrated. The deformation-use optimum
solution changes its drag coefficient from 1.6 to 1.1, along with the
change in dynamic pressure. Moreover, optimization results show
that deformation-use solution requires the membrane for which
upper temperature limit and strain limit are more than 700 K and
120%, respectively, and elasticity (Young-s modulus) is of order of
106 Pa.
Abstract: The mechanical quadrature methods for solving the boundary integral equations of the anisotropic Darcy-s equations with Dirichlet conditions in smooth domains are presented. By applying the collectively compact theory, we prove the convergence and stability of approximate solutions. The asymptotic expansions for the error show that the methods converge with the order O (h3), where h is the mesh size. Based on these analysis, extrapolation methods can be introduced to achieve a higher convergence rate O (h5). An a posterior asymptotic error representation is derived in order to construct self-adaptive algorithms. Finally, the numerical experiments show the efficiency of our methods.
Abstract: This paper presents a hybrid fuzzy-PD plus PID
(HFPP) controller and its application to steam distillation process for
essential oil extraction system. Steam temperature is one of the most
significant parameters that can influence the composition of essential
oil yield. Due to parameter variations and changes in operation
conditions during distillation, a robust steam temperature controller becomes nontrivial to avoid the degradation of essential oil quality.
Initially, the PRBS input is triggered to the system and output of steam temperature is modeled using ARX model structure. The
parameter estimation and tuning method is adopted by simulation
using HFPP controller scheme. The effectiveness and robustness of
proposed controller technique is validated by real time
implementation to the system. The performance of HFPP using 25 and 49 fuzzy rules is compared. The experimental result demonstrates the proposed HFPP using 49 fuzzy rules achieves a
better, consistent and robust controller compared to PID when considering the test on tracking the set point and the effects due to disturbance.
Abstract: Studies on Simultaneous Saccharification and Fermentation (SSF) of corn flour, a major agricultural product as the substrate using starch digesting glucoamylase enzyme derived from Aspergillus niger and non starch digesting and sugar fermenting Saccharomyces cerevisiae in a batch fermentation. Experiments based on Central Composite Design (CCD) were conducted to study the effect of substrate concentration, pH, temperature, enzyme concentration on Ethanol Concentration and the above parameters were optimized using Response Surface Methodology (RSM). The optimum values of substrate concentration, pH, temperature and enzyme concentration were found to be 160 g/l, 5.5, 30°C and 50 IU respectively. The effect of inoculums age on ethanol concentration was also investigated. The corn flour solution equivalent to 16% initial starch concentration gave the highest ethanol concentration of 63.04 g/l after 48 h of fermentation at optimum conditions of pH and temperature. Monod model and Logistic model were used for growth kinetics and Leudeking – Piret model was used for product formation kinetics.
Abstract: Role of acoustic driving pressure on the
translational-radial dynamics of a moving single bubble
sonoluminescence (m-SBSL) has been numerically
investigated. The results indicate that increase in the
amplitude of the driving pressure leads to increase in the
bubble peak temperature. The length and the shape of the
trajectory of the bubble depends on the acoustic pressure and
because of the spatially dependence of the radial dynamics of
the moving bubble, its peak temperature varies during the
acoustical pulses. The results are in good agreement with the
experimental reports on m-SBSL.
Abstract: Let p be a prime number, Fp be a finite field, and let k ∈ F*p. In this paper, we consider the number of rational points onconics Cp,k: x2 − ky2 = 1 over Fp. We proved that the order of Cp,k over Fp is p-1 if k is a quadratic residue mod p and is p + 1 if k is not a quadratic residue mod p. Later we derive some resultsconcerning the sums ΣC[x]p,k(Fp) and ΣC[y]p,k(Fp), the sum of x- and y-coordinates of all points (x, y) on Cp,k, respectively.
Abstract: This paper presents an effective traffic lights
recognition method at the daytime. First, Potential Traffic Lights
Detector (PTLD) use whole color source of YCbCr channel image and
make each binary image of green and red traffic lights. After PTLD
step, Shape Filter (SF) use to remove noise such as traffic sign, street
tree, vehicle, and building. At this time, noise removal properties
consist of information of blobs of binary image; length, area, area of
boundary box, etc. Finally, after an intermediate association step witch
goal is to define relevant candidates region from the previously
detected traffic lights, Adaptive Multi-class Classifier (AMC) is
executed. The classification method uses Haar-like feature and
Adaboost algorithm. For simulation, we are implemented through Intel
Core CPU with 2.80 GHz and 4 GB RAM and tested in the urban and
rural roads. Through the test, we are compared with our method and
standard object-recognition learning processes and proved that it
reached up to 94 % of detection rate which is better than the results
achieved with cascade classifiers. Computation time of our proposed
method is 15 ms.
Abstract: The objective of this study is to propose an observer design for nonlinear systems by using an augmented linear system derived by application of a formal linearization method. A given nonlinear differential equation is linearized by the formal linearization method which is based on Taylor expansion considering up to the higher order terms, and a measurement equation is transformed into an augmented linear one. To this augmented dimensional linear system, a linear estimation theory is applied and a nonlinear observer is derived. As an application of this method, an estimation problem of transient state of electric power systems is studied, and its numerical experiments indicate that this observer design shows remarkable performances for nonlinear systems.
Abstract: Cameron Highlands is a mountainous area subjected
to torrential tropical showers. It extracts 5.8 million liters of water
per day for drinking supply from its rivers at several intake points.
The water quality of rivers in Cameron Highlands, however, has
deteriorated significantly due to land clearing for agriculture,
excessive usage of pesticides and fertilizers as well as construction
activities in rapidly developing urban areas. On the other hand, these
pollution sources known as non-point pollution sources are diverse
and hard to identify and therefore they are difficult to estimate.
Hence, Geographical Information Systems (GIS) was used to provide
an extensive approach to evaluate landuse and other mapping
characteristics to explain the spatial distribution of non-point sources
of contamination in Cameron Highlands. The method to assess
pollution sources has been developed by using Cameron Highlands
Master Plan (2006-2010) for integrating GIS, databases, as well as
pollution loads in the area of study. The results show highest annual
runoff is created by forest, 3.56 × 108 m3/yr followed by urban
development, 1.46 × 108 m3/yr. Furthermore, urban development
causes highest BOD load (1.31 × 106 kgBOD/yr) while agricultural
activities and forest contribute the highest annual loads for
phosphorus (6.91 × 104 kgP/yr) and nitrogen (2.50 × 105 kgN/yr),
respectively. Therefore, best management practices (BMPs) are
suggested to be applied to reduce pollution level in the area.
Abstract: In this paper, the full state feedback controllers
capable of regulating and tracking the speed trajectory are presented.
A fourth order nonlinear mean value model of a 448 kW turbocharged
diesel engine published earlier is used for the purpose.
For designing controllers, the nonlinear model is linearized and
represented in state-space form. Full state feedback controllers
capable of meeting varying speed demands of drivers are presented.
Main focus here is to investigate sensitivity of the controller to the
perturbations in the parameters of the original nonlinear model.
Suggested controller is shown to be highly insensitive to the
parameter variations. This indicates that the controller is likely
perform with same accuracy even after significant wear and tear of
engine due to its use for years.
Abstract: In this study, we propose a network architecture for
providing secure access to information resources of enterprise
network from remote locations in a wireless fashion. Our proposed
architecture offers a very promising solution for organizations which
are in need of a secure, flexible and cost-effective remote access
methodology. Security of the proposed architecture is based on
Virtual Private Network technology and a special role based access
control mechanism with location and time constraints. The flexibility
mainly comes from the use of Internet as the communication medium
and cost-effectiveness is due to the possibility of in-house
implementation of the proposed architecture.
Abstract: The increasing importance of data stream arising in a
wide range of advanced applications has led to the extensive study of
mining frequent patterns. Mining data streams poses many new
challenges amongst which are the one-scan nature, the unbounded
memory requirement and the high arrival rate of data streams. In this
paper, we propose a new approach for mining itemsets on data
stream. Our approach SFIDS has been developed based on FIDS
algorithm. The main attempts were to keep some advantages of the
previous approach and resolve some of its drawbacks, and
consequently to improve run time and memory consumption. Our
approach has the following advantages: using a data structure similar
to lattice for keeping frequent itemsets, separating regions from each
other with deleting common nodes that results in a decrease in search
space, memory consumption and run time; and Finally, considering
CPU constraint, with increasing arrival rate of data that result in
overloading system, SFIDS automatically detect this situation and
discard some of unprocessing data. We guarantee that error of results
is bounded to user pre-specified threshold, based on a probability
technique. Final results show that SFIDS algorithm could attain
about 50% run time improvement than FIDS approach.