Abstract: In this paper we intend to ascertain the state of the art on multifingered end-effectors, also known as robotic hands or dexterous robot hands, and propose an experimental setup for an innovative task based design approach, involving cutting edge technologies in motion capture. After an initial description of the capabilities and complexity of a human hand when grasping objects, in order to point out the importance of replicating it, we analyze the mechanical and kinematical structure of some important works carried out all around the world in the last three decades and also review the actuators and sensing technologies used. Finally we describe a new design philosophy proposing an experimental setup for the first stage using recent developments in human body motion capture systems that might lead to lighter and always more dexterous robotic hands.
Abstract: As a structure for processing string problem, suffix
array is certainly widely-known and extensively-studied. But if the
string access pattern follows the “90/10" rule, suffix array can not take
advantage of the fact that we often find something that we have just
found. Although the splay tree is an efficient data structure for small
documents when the access pattern follows the “90/10" rule, it
requires many structures and an excessive amount of pointer
manipulations for efficiently processing and searching large
documents. In this paper, we propose a new and conceptually powerful
data structure, called splay suffix arrays (SSA), for string search. This
data structure combines the features of splay tree and suffix arrays into
a new approach which is suitable to implementation on both
conventional and clustered computers.
Abstract: In order to compare the performance of the carbon dioxide and HFC-125 heat pumps for medium-and high-temperature heating, both heat pump cycles were optimized using a simulation method. To fairly compare the performance of the cycles by using different working fluids, each cycle was optimized from the viewpoint of heating COP by two design parameters. The first is the gas cooler exit temperature and the other is the ratio of the overall heat conductance of the gas cooler to the combined overall heat conductance of the gas cooler and the evaporator. The inlet and outlet temperatures of secondary fluid of the gas cooler were fixed at 40/90°C and 40/150°C.The results shows that the HFC-125 heat pump has 6% higher heating COP than carbon dioxide heat pump when the heat sink exit temperature is fixed at 90ºC, while the latter outperforms the former when the heat sink exit temperature is fixed at 150ºC under the simulation conditions considered in the present study.
Abstract: The effect of the blade tip geometry of a high pressure
gas turbine is studied experimentally and computationally for high
speed leakage flows. For this purpose two simplified models are
constructed, one models a flat tip of the blade and the second models
a cavity tip of the blade. Experimental results are obtained from a
transonic wind tunnel to show the static pressure distribution along
the tip wall and provide flow visualization. RANS computations
were carried to provide further insight into the mean flow behavior
and to calculate the discharge coefficient which is a measure of the
flow leaking over the tip. It is shown that in both geometries of tip
the flow separates over the tip to form a separation bubble. The
bubble is higher for the cavity tip while a complete shock wave
system of oblique waves ending with a normal wave can be seen for
the flat tip. The discharge coefficient for the flat tip shows less
dependence on the pressure ratio over the blade tip than the cavity
tip. However, the discharge coefficient for the cavity tip is lower than
that of the flat tip, showing a better ability to reduce the leakage flow
and thus increase the turbine efficiency.
Abstract: Optical character recognition of cursive scripts
presents a number of challenging problems in both segmentation and
recognition processes in different languages, including Persian. In
order to overcome these problems, we use a newly developed Persian
word segmentation method and a recognition-based segmentation
technique to overcome its segmentation problems. This method is
robust as well as flexible. It also increases the system-s tolerances to
font variations. The implementation results of this method on a
comprehensive database show a high degree of accuracy which meets
the requirements for commercial use. Extended with a suitable pre
and post-processing, the method offers a simple and fast framework
to develop a full OCR system.
Abstract: The present study investigated the relationship
between personality characteristics of drivers and the number and
amount of fines they have in a year .This study was carried out on
120 male taxi drivers that worked at least seven hours in a day in
Lamerd - a city in the south of IRAN. Subjects were chosen
voluntarily among those available. Predictive variables were the NEO
–five great personality factors (1. conscientiousness 2. Openness to
Experience 3.Neuroticism4 .Extraversion 5.Agreeableness )
thecriterion variables were the number and amount of fines the
drivers have had the last three years. the result of regression analysis
showed that conscientiousness factor was able to negatively predict
the number and amount of financial fines the drivers had during the
last three years. The openness factor positively predicted the number
of fines they had in last 3 years and the amount of financial fines
during the last year. The extraversion factor both meaningfully and
positively could predict only the amount of financial fines they had
during the last year. Increasing age was associated with decreasing
driving offenses as well as financial loss.The findings can be useful
in recognizing the high-risk drivers and leading them to counseling
centers .They can also be used to inform the drivers about their
personality and it’s relation with their accident rate. Such criteria
would be of great importance in employing drivers in different places
such as companies, offices etc…
Abstract: This study examines the inelastic behavior of adjacent planar reinforced concrete (R.C.) frames subjected to strong ground motions. The investigation focuses on the effects of vertical ground motion on the seismic pounding. The examined structures are modeled and analyzed by RUAUMOKO dynamic nonlinear analysis program using reliable hysteretic models for both structural members and contact elements. It is found that the vertical ground motion mildly affects the seismic response of adjacent buildings subjected to structural pounding and, for this reason, it can be ignored from the displacement and interstorey drifts assessment. However, the structural damage is moderately affected by the vertical component of earthquakes.
Abstract: Recently, there are significant improvements in the
capabilities of mobile devices; rendering large terrain is tedious
because of the constraint in resources of mobile devices. This
paper focuses on the implementation of terrain rendering on
mobile device to observe some issues and current constraints
occurred. Experiments are performed using two datasets with
results based on rendering speed and appearance to ascertain both
the issues and constraints. The result shows a downfall of frame
rate performance because of the increase of triangles. Since the
resolution between computer and mobile device is different, the
terrain surface on mobile device looks more unrealistic compared
to on a computer. Thus, more attention in the development of
terrain rendering on mobile devices is required. The problems
highlighted in this paper will be the focus of future research and
will be a great importance for 3D visualization on mobile device.
Abstract: The aim of this paper is to examine factors related to system environment (namely, system quality and vendor support) that influences ERP implementation success in Iranian companies. Implementation success is identified using user satisfaction and organizational impact perspective. The study adopts the survey questionnaire approach to collect empirical data. The questionnaire was distributed to ERP users and a total of 384 responses were used for analysis. The results illustrated that both system quality and vendor support have significant effect on ERP implementation success. This implies that companies must ensure they source for the best available system and a vendor that is dependable, reliable and trustworthy.
Abstract: This paper includes two novel techniques for skew
estimation of binary document images. These algorithms are based on
connected component analysis and Hough transform. Both these
methods focus on reducing the amount of input data provided to
Hough transform. In the first method, referred as word centroid
approach, the centroids of selected words are used for skew detection.
In the second method, referred as dilate & thin approach, the selected
characters are blocked and dilated to get word blocks and later
thinning is applied. The final image fed to Hough transform has the
thinned coordinates of word blocks in the image. The methods have
been successful in reducing the computational complexity of Hough
transform based skew estimation algorithms. Promising experimental
results are also provided to prove the effectiveness of the proposed
methods.
Abstract: Legionella pneumophila is involved in more than 95%
cases of severe atypical pneumonia. Infection is mainly by
inhalation the indoor aerosols through the water-coolant systems.
Because some Legionella strains may be viable but not culturable,
therefore, Taq polymerase, DNA amplification and semi-nested-PCR
were carried out to detect Legionella-specific 16S-rDNA sequence.
For this purpose, 1.5 litter of water samples from 77 water-coolant
system were collected from four different hospitals, two nursing
homes and one student hostel in Kerman city of Iran, each in a brand
new plastic bottle during summer season of 2006 (from April to
August). The samples were filtered in the sterile condition through
the Millipore Membrane Filter. DNA was extracted from membrane
and used for PCR to detect Legionella spp. The PCR product was
then subjected to semi-nested PCR for detection of L. pneumophila.
Out of 77 water samples that were tested by PCR, 30 (39%) were
positive for most species of Legionella. However, L. pneumophila
was detected from 14 (18.2%) water samples by semi-nested PCR.
From the above results it can be concluded that water coolant
systems of different hospitals and nursing homes in Kerman city of
Iran are highly contaminated with L. pneumophila spp. and pose
serious concern. So, we recommend avoiding such type of coolant
system in the hospitals and nursing homes.
Abstract: Finding the shortest path between two positions is a
fundamental problem in transportation, routing, and communications
applications. In robot motion planning, the robot should pass around
the obstacles touching none of them, i.e. the goal is to find a
collision-free path from a starting to a target position. This task has
many specific formulations depending on the shape of obstacles,
allowable directions of movements, knowledge of the scene, etc.
Research of path planning has yielded many fundamentally different
approaches to its solution, mainly based on various decomposition
and roadmap methods. In this paper, we show a possible use of
visibility graphs in point-to-point motion planning in the Euclidean
plane and an alternative approach using Voronoi diagrams that
decreases the probability of collisions with obstacles. The second
application area, investigated here, is focused on problems of finding
minimal networks connecting a set of given points in the plane using
either only straight connections between pairs of points (minimum
spanning tree) or allowing the addition of auxiliary points to the set
to obtain shorter spanning networks (minimum Steiner tree).
Abstract: This paper aims to present knowledge management for solving economic problem and poverty in Thai community. A community in Thailand is studied as a case study for master plan or social and economic plan which derived form the research people conducted by themselves in their community. The result shows that community uses knowledge management in recording income and expense, analyzing their consumption, and then systematic planning of the production, distribution and consumption in the community. Besides, community enterprises, that people create as the by-products of master plan, can facilitate diverse economic activities which are able to reduce economic problem and poverty. The knowledge that people gain from solving their problem through building community enterprises are both tacit and explicit knowledge. Four styles of knowledge conversion: socialization,externalization, combination and internalization, are used. Besides, knowledge sharing inside the organization, between organizations and its environment are found. Keywordsknowledge management, community enterprise, Thailand.
Abstract: In built-up structures, one of the effective ways of
dissipating unwanted vibration is to exploit the occurrence of slip at
the interfaces of structural laminates. The present work focuses on
the dynamic analysis of welded structures. A mathematical
formulation has been developed for the mechanism of slip damping
in layered and welded mild steel beams with unequal thickness
subjected to both periodic and non-periodic forces. It is observed that
a number of vital parameters such as; thickness ratio, pressure
distribution characteristics, relative slip and kinematic co-efficient of
friction at the interfaces, nature of exciting forces, length and
thickness of the beam specimen govern the damping characteristics of
these structures. Experimental verification has been carried out to
validate the analysis and study the effect of these parameters. The
developed damping model for the structure is found to be in fairly
good agreement with the measured data. Finally, the results of the
analysis are discussed and rationalized.
Abstract: In this paper, we proposed a new framework to incorporate an intelligent agent software robot into a crisis communication portal (CCNet) in order to send alert news to subscribed users via email and other mobile services such as Short Message Service (SMS), Multimedia Messaging Service (MMS) and General Packet Radio Services (GPRS). The content on the mobile services can be delivered either through mobile phone or Personal Digital Assistance (PDA). This research has shown that with our proposed framework, the embodied conversation agents system can handle questions intelligently with our multilayer architecture. At the same time, the extended framework can take care of delivery content through a more humanoid interface on mobile devices.
Abstract: Today, the central role of industrial robots in automation in general and in material handling in particular is crystal clear. Based on the current status of Photovoltaics and by focusing on lightweight material handling, PV industry has turned into a potential candidate for introducing a fresh “pick and place" robot technology. Thus, to examine the industry needs in this regard, firstly the best suited applications for such robotic automation,and then the essential prerequisites in PV industry should be identified. The objective of this paper is to present holistic views on the industry trends, general automation status and existing challenges facing lightweight robotic material handling in PV Silicon Wafer and Thin Film technologies. The results of this study show that currently no uniform pick and place solution prevails among PV Silicon Wafer manufacturers and the industry calls for a new robot solution to satisfy its needs in new directions.
Abstract: The present study aims to evaluating the effect of
rotor solidity - in terms of chord length for a given rotor diameter - on
the performances of a small vertical axis Darrieus wind turbine. The
proposed work focuses on both power production and rotor power
coefficient, considering also the structural constraints deriving from
the centrifugal forces due to rotor angular velocity. Also the
smoothness of the resulting power curves have been investigated, in
order to evaluate the controllability of the corresponding rotor
architectures.
Abstract: A new hybrid coding method for compressing
animated polygonal meshes is presented. This paper assumes
the simplistic representation of the geometric data: a temporal
sequence of polygonal meshes for each discrete frame of the
animated sequence. The method utilizes a delta coding and an
octree-based method. In this hybrid method, both the octree
approach and the delta coding approach are applied to each
single frame in the animation sequence in parallel. The
approach that generates the smaller encoded file size is chosen
to encode the current frame. Given the same quality
requirement, the hybrid coding method can achieve much
higher compression ratio than the octree-only method or the
delta-only method. The hybrid approach can represent 3D
animated sequences with higher compression factors while
maintaining reasonable quality. It is easy to implement and have
a low cost encoding process and a fast decoding process, which
make it a better choice for real time application.
Abstract: In recent years Operational Transconductance Amplifier based high frequency integrated circuits, filters and systems have been widely investigated. The usefulness of OTAs over conventional OP-Amps in the design of both first order and second order active filters are well documented. This paper discusses some of the tunability issues using the Matlab/Simulink® software which are previously unreported for any commercial OTA. Using the simulation results two first order voltage controlled all pass filters with phase tuning capability are proposed.
Abstract: Improving the performance of the QCL through block diagram as well as mathematical models is the main scope of this paper. In order to enhance the performance of the underlined device, the mathematical model parameters are used in a reliable manner in such a way that the optimum behavior was achieved. These parameters play the central role in specifying the optical characteristics of the considered laser source. Moreover, it is important to have a large amount of radiated power, where increasing the amount of radiated power represents the main hopping process that can be predicted from the behavior of quantum laser devices. It was found that there is a good agreement between the calculated values from our mathematical model and those obtained with VisSim and experimental results. These demonstrate the strength of mplementation of both mathematical and block diagram models.