Abstract: This paper presents the trajectory tracking control of a
spatial redundant hybrid manipulator. This manipulator consists of
two parallel manipulators which are a variable geometry truss (VGT)
module. In fact, each VGT module with 3-degress of freedom (DOF)
is a planar parallel manipulator and their operational planes of these
VGT modules are arranged to be orthogonal to each other. Also, the
manipulator contains a twist motion part attached to the top of the
second VGT module to supply the missing orientation of the endeffector.
These three modules constitute totally 7-DOF hybrid
(parallel-parallel) redundant spatial manipulator. The forward
kinematics equations of this manipulator are obtained, then,
according to these equations, the inverse kinematics is solved based
on an optimization with the joint limit avoidance. The dynamic
equations are formed by using virtual work method. In order to test
the performance of the redundant manipulator and the controllers
presented, two different desired trajectories are followed by using the
computed force control method and a switching control method. The
switching control method is combined with the computed force
control method and genetic algorithm. In the switching control
method, the genetic algorithm is only used for fine tuning in the
compensation of the trajectory tracking errors.
Abstract: Software vulnerabilities are increasing and not only impact services and processes availability as well as information confidentiality, integrity and privacy, but also cause changes that interfere in the development process. Security test could be a solution to reduce vulnerabilities. However, the variety of test techniques with the lack of real case studies of applying tests focusing on software development life cycle compromise its effective use. This paper offers an overview of how a Systematic Mapping Study (MS) about security verification, validation and test (VVT) was performed, besides presenting general results about this study.
Abstract: In this study, natural bentonite was used as natural
clay material and samples were taken from the Kalecik district in
Ankara. In this research, bentonite is the subject of an analysis from
standpoint of assessing the basic properties of engineered barriers
with respect to the buffer material. Bentonite and sand mixtures were
prepared for tests. Some of clay minerals give relatively higher
hydraulic conductivity and lower swelling pressure. Generally,
hydraulic conductivity of these type clays is lower than
Abstract: Within Vietnam's system of higher education, its
schools of business play a vital role in supporting the country’s
economic objectives. However, the crucial contribution of soft skills
for maximal success within the business sector has to date not been
adequately recognized by its business schools. This being so, the
development of the business school curriculum in Vietnam has not
been able to 'catch up', so to say, with the burgeoning need of
students for a comprehensive soft skills program designed to meet the
national and global business objectives of their potential employers.
The burden of the present paper is first to reveal the results of our
survey in Vietnam which make explicit the extent to which major
Vietnamese industrial employers’ value the potential role that soft
skill competencies can play in maximizing business success. Our
final task will be to determine which soft skills employers discern as
best serving to maximize the economic interests of Vietnam within
the global marketplace. Semi-structured telephone interviews have
been conducted with the 15 representative Head Employers of
Vietnam's reputedly largest and most successful of the diverse
business enterprises across Vietnam. The findings of the study
indicate that all respondents highly value the increasing importance
of soft skills in business success. Our critical analysis of respondent
data reveals that 19 essential soft skills are deemed by employers as
integral to business workplace efficacy and should thus be integrated
into the formal business curriculum. We are confident that our study
represents the first comprehensive and specific survey yet undertaken
within the business sector in Vietnam which accesses and analyses
the opinions of representative employers from major companies
across the country in regard to the growing importance of 19 specific
soft skills essential for maximizing overall business success. Our
research findings also reveal that the integration into business school
curriculums nationwide of the soft skills we have identified is of
paramount importance to advance the national and global economic
interests of Vietnam.
Abstract: This study was designed to evaluate whether carvacrol
(CAR) could provide protection against lung injury by acute
pancreatitis development. The rats were randomized into groups to
receive (I) no therapy; (II) 50 μg/kg cerulein at 1h intervals by four
intraperitoneal injections (i.p.); (III) 50, 100 and 200 mg/kg CAR by
one i.p.; and (IV) cerulein+CAR after 2h of cerulein injection. 12h
later, serum samples were obtained to assess pancreatic function the
lipase and amylase values. The animals were euthanized and lung
samples were excised. The specimens were stained with
hematoxylin-eosin (H&E), periodic acid–Schif (PAS), Mallory's
trichrome and amyloid. Additionally, oxidative DNA damage was
determined by measuring as increases in 8-hydroxy-deoxyguanosine
(8-OH-dG) adducts. The results showed that the serum activity of
lipase and amylase in AP rats were significantly reduced after the
therapy (p
Abstract: The housing industry is crucial for sustainable
development of every country. Housing is a basic need that can
enhance the quality of life. Owning a house is therefore the main aim
of individuals. However, affordability has become a critical issue
towards homeownership. In recent years, housing price in the main
cities has increased tremendously to unaffordable level. This paper
investigates factors influencing the housing price from developer’s
perspective and provides recommendation on strategies to tackle this
issue. Online and face-to-face survey was conducted on housing
developers operating in Penang, Malaysia. The results indicate that
(1) location; (2) macroeconomics factor; (3) demographic factors; (4)
land/zoning and; (5) industry factors are the main factors influencing
the housing price. This paper contributes towards better
understanding on developers’ view on how the housing price is
determined and form a basis for government to help tackle the
housing affordability issue.
Abstract: High reflectance of surgical instruments under bright
light hinders the visual clarity during laparoscopic surgical
procedures leading to loss of precision and device control and creates
strain and undesired difficulties to surgeons. Majority of the surgical
instruments are made of surgical grade steel. Instruments with a non
reflective surface can enhance the visual clarity during precision
surgeries. A conversion coating of black oxide has been successfully
developed 410 grade surgical stainless steel .The characteristics of
the developed coating suggests the application of this technique for
developing 410 grade surgical instruments with minimal reflectance.
Abstract: There is an increasing demand for developing urban
land to provide better living conditions for all citizens in Afghanistan.
Most of the development will involve the acquisition of land. And the
current land acquisition method practiced by central government is
expropriation, which is a cash-based transaction method that imposes
heavy fiscal burden on local municipalities and central government,
and it does not protect ownership rights and social equity of
landowners besides it relocates the urban poor to remote areas with
limited access to jobs and public services. The questionnaire analysis,
backed by observations of different case studies in countries where
land readjustment is used as a collaborative land development tool
indicates that the method plays a key role in valuing landowners’
rights, giving other community members and stakeholders the
opportunity to collaboratively implement urban development
projects. The practice of the method is reducing the heavy fiscal
burden on the local and central governments and is a better option to
deal with the current development challenges in Afghanistan.
Abstract: The aim of this work is to present a low cost adsorbent
for removing toxic heavy metals from aqueous solutions. Therefore,
we are interested to investigate the efficiency of natural clay minerals
collected from south Tunisia and their modified form using sulfuric
acid in the removal of toxic metal ions: Zn(II) and Pb(II) from
synthetic waste water solutions. The obtained results indicate that
metal uptake is pH-dependent and maximum removal was detected to
occur at pH 6. Adsorption equilibrium is very rapid and it was
achieved after 90 min for both metal ions studied. The kinetics results
show that the pseudo-second-order model describes the adsorption
and the intraparticle diffusion models are the limiting step. The
treatment of natural clay with sulfuric acid creates more active sites
and increases the surface area, so it showed an increase of the
adsorbed quantities of lead and zinc in single and binary systems. The
competitive adsorption study showed that the uptake of lead was
inhibited in the presence of 10 mg/L of zinc. An antagonistic binary
adsorption mechanism was observed. These results revealed that clay
is an effective natural material for removing lead and zinc in single
and binary systems from aqueous solution.
Abstract: The idea of cropping-system is a method used by
farmers. It is an environmentally-friendly method, protecting the
natural resources (soil, water, air, nutritive substances) and increase
the production at the same time, taking into account some crop
particularities. The combination of this powerful method with the
concepts of genetic algorithms results into a possibility of generating
sequences of crops in order to form a rotation. The usage of this type
of algorithms has been efficient in solving problems related to
optimization and their polynomial complexity allows them to be used
at solving more difficult and various problems. In our case, the
optimization consists in finding the most profitable rotation of
cultures. One of the expected results is to optimize the usage of the
resources, in order to minimize the costs and maximize the profit. In
order to achieve these goals, a genetic algorithm was designed. This
algorithm ensures the finding of several optimized solutions of
cropping-systems possibilities which have the highest profit and,
thus, which minimize the costs. The algorithm uses genetic-based
methods (mutation, crossover) and structures (genes, chromosomes).
A cropping-system possibility will be considered a chromosome and
a crop within the rotation is a gene within a chromosome. Results
about the efficiency of this method will be presented in a special
section. The implementation of this method would bring benefits into
the activity of the farmers by giving them hints and helping them to
use the resources efficiently.
Abstract: In an economic crisis such as the one that shook (and still shake) Europe, one does not question the importance of the measures that encourage the hiring and integration of young people into the labour market. In the mentioned context, enterprises tend to reduce the cost of labour and to seek flexible contracting instruments. The professional internships allow innovation and creativity at low cost, because, as they are not labour contracts, the enterprises do not have to respect the minimum standards related to wages, working time duration and so on. In Portugal, we observe a widespread existence of training contracts in which the trainee worked several hours without salary or was paid below the legally prescribed for the function and the work period. For this reason, under the tripartite agreement for a new system of regulation of labour relations, employment policies and social protection, between the Government and the social partners, in June 2008, foresaw a prohibition of professional internships unpaid and the legal regulation of the mandatory internships for access to an activity. The first Act about private internship contracts, i.e., internships without public funding was embodied in the Decree-Law N. 66/2011, of 1st June. This work is dedicated to the study of the legal regime of the internship contract in Portugal, by analysing the problems brought by the new set of rules and especially those which remains unresolved. In fact, we can conclude that the number of situations covered by the Act is much lower than what was expected, because of the exclusion of the mandatory internship for access to a profession when the activity is developed autonomously. Since the majority of the activities can be developed both autonomously or subordinated, it is quite easy to out of the Act requirements and, so, out of the protection that it confers to the intern. In order to complete this study, we considered not only the mentioned legal Act, but also the few doctrine and jurisprudence about the theme.
Abstract: This paper empirically investigates the relationship between Sabah state core tourism products and its destination image. Through a descriptive design using a quantitative method with a self-reported and self-administered questionnaire, this research surveyed the individual international tourists who had visited Sabah and experienced the state’s core tourism products. The research findings clearly indicate that Sabah, one of the states in Malaysia has a lot of valuable resources in the eyes of the international tourists. Interestingly, it was found that Sabah’s core tourism products namely unique marine resources, various nature attractions and cultural diversities have undoubtedly contributed to the state’s tourism image. Good feedbacks and the promising insights from the international tourists’ point of view offer varying consequences, repercussion, and implication to the state government and the relevant authorities. Collaboration and cooperation between all responsible authorities are therefore crucial in strengthening the “total tourism experience” among the international tourists in this state.
Abstract: Edge detection is one of the most important tasks in image processing. Medical image edge detection plays an important role in segmentation and object recognition of the human organs. It refers to the process of identifying and locating sharp discontinuities in medical images. In this paper, a neuro-fuzzy based approach is introduced to detect the edges for noisy medical images. This approach uses desired number of neuro-fuzzy subdetectors with a postprocessor for detecting the edges of medical images. The internal parameters of the approach are optimized by training pattern using artificial images. The performance of the approach is evaluated on different medical images and compared with popular edge detection algorithm. From the experimental results, it is clear that this approach has better performance than those of other competing edge detection algorithms for noisy medical images.
Abstract: An approach to compute optimum seismic design parameters is presented. It is based on the optimization of the expected present value of the total cost, which includes the initial cost of structures as well as the cost due to earthquakes. Different types of seismicity models are considered, including one for characteristic earthquakes. Uncertainties are included in some variables to observe the influence on optimum values. Optimum seismic design coefficients are computed for three different structural types representing high, medium and low rise buildings, located near and far from the seismic sources. Ordinary and important structures are considered in the analysis. The results of optimum values show an important influence of seismicity models as well as of uncertainties on the variables.
Abstract: In this paper, x-ray impact of Taguchi method and design of experiment philosophy to project relationship between various factors leading to output yield strength of rebar is studied. In bar mill of an integrated steel plant, there are two production lines called as line 1 and line 2. The metallic properties e.g. yield strength of finished product of the same material is varying for a particular grade material when rolled simultaneously in both the lines. A study has been carried out to set the process parameters at optimal level for obtaining equal value of yield strength simultaneously for both lines.
Abstract: The purpose of this study is to explore the different facets of growth among micro, small and medium-sized firms in Croatia and to analyze the differences between models designed for all micro, small and medium-sized firms and those in creative industries. Three growth prediction models were designed and tested using the growth of sales, employment and assets of the company as dependent variables. The key drivers of sales growth are: prudent use of cash, industry affiliation and higher share of intangible assets. Growth of assets depends on retained profits, internal and external sources of financing, as well as industry affiliation. Growth in employment is closely related to sources of financing, in particular, debt and it occurs less frequently than growth in sales and assets. The findings confirm the assumption that growth strategies of small and medium-sized enterprises (SMEs) in creative industries have specific differences in comparison to SMEs in general. Interestingly, only 2.2% of growing enterprises achieve growth in employment, assets and sales simultaneously.
Abstract: In connected vehicle systems where wireless communication is available among the involved vehicles and intersection controllers, it is possible to design an intersection coordination strategy that leads the connected and automated vehicles (CAVs) travel through the road intersections without the conventional traffic light control. In this paper, we present a distributed coordination strategy for the CAVs at multiple interconnected intersections that aims at improving system fuel efficiency and system mobility. We present a distributed control solution where in the higher level, the intersection controllers calculate the road desired average velocity and optimally assign reference velocities of each vehicle. In the lower level, every vehicle is considered to use model predictive control (MPC) to track their reference velocity obtained from the higher level controller. The proposed method has been implemented on a simulation-based case with two-interconnected intersection network. Additionally, the effects of mixed vehicle types on the coordination strategy has been explored. Simulation results indicate the improvement on vehicle fuel efficiency and traffic mobility of the proposed method.
Abstract: As transition to widespread use of IPv6 addresses has gained momentum, it has been shown to be vulnerable to certain security attacks such as those targeting Neighbor Discovery Protocol (NDP) which provides the address resolution functionality in IPv6. To protect this protocol, Secure Neighbor Discovery (SEND) is introduced. This protocol uses Cryptographically Generated Address (CGA) and asymmetric cryptography as a defense against threats on integrity and identity of NDP. Although SEND protects NDP against attacks, it is computationally intensive due to Hash2 condition in CGA. To improve the CGA computation speed, we parallelized CGA generation process and used the available resources in a trusted network. Furthermore, we focused on the influence of the existence of malicious nodes on the overall load of un-malicious ones in the network. According to the evaluation results, malicious nodes have adverse impacts on the average CGA generation time and on the average number of tries. We utilized a Trust Management that is capable of detecting and isolating the malicious node to remove possible incentives for malicious behavior. We have demonstrated the effectiveness of the Trust Management System in detecting the malicious nodes and hence improving the overall system performance.
Abstract: Lightweight construction became more and more important over the last decades in several applications, e.g. in the automotive or aircraft sector. This is the result of economic and ecological constraints on the one hand and increasing safety and comfort requirements on the other hand. In the field of lightweight design, different approaches are used due to specific requirements towards the technical systems. The use of endless carbon fiber reinforced plastics (CFRP) offers the largest weight saving potential of sometimes more than 50% compared to conventional metal-constructions. However, there are very limited industrial applications because of the cost-intensive manufacturing of the fibers and production technologies. Other disadvantages of pure CFRP-structures affect the quality control or the damage resistance. One approach to meet these challenges is hybrid materials. This means CFRP and sheet metal are combined on a material level. Therefore, new opportunities for innovative process routes are realizable. Hybrid lightweight design results in lower costs due to an optimized material utilization and the possibility to integrate the structures in already existing production processes of automobile manufacturers. In recent and current research, the advantages of two-layered hybrid materials have been pointed out, i.e. the possibility to realize structures with tailored mechanical properties or to divide the curing cycle of the epoxy resin into two steps. Current research work at the Chair for Automotive Lightweight Design (LiA) at the Paderborn University focusses on production processes for fiber-metal-laminates. The aim of this work is the development and qualification of a large-scale production process for high-performance fiber-metal-laminates (FML) for industrial applications in the automotive or aircraft sector. Therefore, the prepreg-press-technology is used, in which pre-impregnated carbon fibers and sheet metals are formed and cured in a closed, heated mold. The investigations focus e.g. on the realization of short process chains and cycle times, on the reduction of time-consuming manual process steps, and the reduction of material costs. This paper gives an overview over the considerable steps of the production process in the beginning. Afterwards experimental results are discussed. This part concentrates on the influence of different process parameters on the mechanical properties, the laminate quality and the identification of process limits. Concluding the advantages of this technology compared to conventional FML-production-processes and other lightweight design approaches are carried out.
Abstract: Operators of vessel traffic service (VTS) center provides three different types of services; namely information service, navigational assistance and traffic organization to vessels. To provide these services, operators monitor vessel traffic through computer interface and provide navigational advice based on the information integrated from multiple sources, including automatic identification system (AIS), radar system, and closed circuit television (CCTV) system. Therefore, this information is crucial in VTS operation. However, what information the VTS operator actually need to efficiently and properly offer services is unclear. The aim of this study is to investigate into information requirements for VTS operation. To achieve this aim, field observation was carried out to elicit the information requirements for VTS operation. The study revealed that the most frequent and important tasks were handling arrival vessel report, potential conflict control and abeam vessel report. Current location and vessel name were used in all tasks. Hazard cargo information was particularly required when operators handle arrival vessel report. The speed, the course, and the distance of two or several vessels were only used in potential conflict control. The information requirements identified in this study can be utilized in designing a human-computer interface that takes into consideration what and when information should be displayed, and might be further used to build the foundation of a decision support system for VTS.