Abstract: In order to improve control performance and eliminate steady, a coupling compensation for 6-DOF parallel robot is presented. Taking dynamic load Tank Simulator as the research object, this paper analyzes the coupling of 6-DOC parallel robot considering the degree of freedom of the 6-DOF parallel manipulator. The coupling angle and coupling velocity are derived based on inverse kinematics model. It uses the mechanism-model combined method which takes practical moving track that considering the performance of motion controller and motor as its input to make the study. Experimental results show that the coupling compensation improves motion stability as well as accuracy. Besides, it decreases the dither amplitude of dynamic load Tank Simulator.
Abstract: In this paper we study a system composed by carbon
nanotube (CNT) and bundle of carbon nanotube (BuCNT) interacting
with a specific fatty acid as molecular probe. Full system is
represented by open nanotube (or nanotubes) and the linoleic acid
(LA) relaxing due the interaction with CNT and BuCNT. The LA has
in his form an asymmetric shape with COOH termination provoking
a close BuCNT interaction mainly by van der Waals force field. The
simulations were performed by classical molecular dynamics with
standard parameterizations.
Our results show that these BuCNT and CNT are dynamically
stable and it shows a preferential interaction position with LA
resulting in three features: (i) when the LA is interacting with CNT
and BuCNT (including both termination, CH2 or COOH), the LA is
repelled; (ii) when the LA terminated with CH2 is closer to open
extremity of BuCNT, the LA is also repelled by the interaction
between them; and (iii) when the LA terminated with COOH is
closer to open extremity of BuCNT, the LA is encapsulated by the
BuCNT. These simulations are part of a more extensive work on
searching efficient selective molecular devices and could be useful to
reach this goal.
Abstract: In this paper, we present a novel approach to location
system under indoor environment. The key idea of our work is
accurate distance estimation with cricket-based location system using
A* algorithm. We also use magnetic sensor for detecting obstacles in
indoor environment. Finally, we suggest how this system can be used
in various applications such as asset tracking and monitoring.
Abstract: In policy discourse of 1990s, more inclusive spaces
have been constructed for realizing full and meaningful participation
of common people in education. These participatory spaces provide
an alternative possibility for universalizing elementary education
against the backdrop of a history of entrenched forms of social and
economical exclusion; inequitable education provisions; and
shrinking role of the state in today-s neo-liberal times. Drawing on
case-studies of bottom-up approaches to school governance, the study
examines an array of innovative ways through which poor people
gained a sense of identity and agency by evolving indigenous
solutions to issues regarding schooling of their children. In the
process, state-s institutions and practices became more accountable
and responsive to educational concerns of the marginalized people.
The deliberative participation emerged as an active way of
experiencing deeper forms of empowerment and democracy than its
passive realization as mere bearers of citizen rights.
Abstract: The paper focuses on the enhanced stiffness modeling
of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements the
virtual joint technique that describes the compliance of manipulator elements by a set of localized six-dimensional springs separated by
rigid links and perfect joints. In contrast to the conventional
formulation, which is valid for the unloaded mode and small
displacements, the proposed approach implicitly assumes that the loading leads to the non-negligible changes of the manipulator posture and corresponding amendment of the Jacobian. The
developed numerical technique allows computing the static
equilibrium and relevant force/torque reaction of the manipulator for
any given displacement of the end-effector. This enables designer
detecting essentially nonlinear effects in elastic behavior of
manipulator, similar to the buckling of beam elements. It is also proposed the linearization procedure that is based on the inversion of
the dedicated matrix composed of the stiffness parameters of the
virtual springs and the Jacobians/Hessians of the active and passive
joints. The developed technique is illustrated by an application example that deals with the stiffness analysis of a parallel
manipulator of the Orthoglide family
Abstract: Recently, Cassava has been the driving force of many
developing countries- economic progress. To attain this level,
prerequisites were put in place enabling cassava sector to become an
industrial and a highly competitive crop. Cameroon can achieve the
same results. Moreover, it can upgrade the living conditions of both
rural and urban dwellers and stimulate the development of the whole
economy. Achieving this outcome calls for agricultural policy
reforms. The adoption and implementation of adequate policies go
along with efficient strategies. To choose effective strategies, an indepth
investigation of the sector-s problems is highly recommended.
This paper uses gap analysis method to evaluate cassava sector in
Cameroon. It studies the present situation (where it is now),
interrogates the future (where it should be) and finally proposes
solutions to fill the gap.
Abstract: Single biometric modality recognition is not able to meet the high performance supplies in most cases with its application become more and more broadly. Multimodal biometrics identification represents an emerging trend recently. This paper investigates a novel algorithm based on fusion of both fingerprint and fingervein biometrics. For both biometric recognition, we employ the Monogenic Local Binary Pattern (MonoLBP). This operator integrate the orginal LBP (Local Binary Pattern ) with both other rotation invariant measures: local phase and local surface type. Experimental results confirm that a weighted sum based proposed fusion achieves excellent identification performances opposite unimodal biometric systems. The AUC of proposed approach based on combining the two modalities has very close to unity (0.93).
Abstract: In this work, we present a comparison between two
techniques of image compression. In the first case, the image is
divided in blocks which are collected according to zig-zag scan. In
the second one, we apply the Fast Cosine Transform to the image,
and then the transformed image is divided in blocks which are
collected according to zig-zag scan too. Later, in both cases, the
Karhunen-Loève transform is applied to mentioned blocks. On the
other hand, we present three new metrics based on eigenvalues for a
better comparative evaluation of the techniques. Simulations show
that the combined version is the best, with minor Mean Absolute
Error (MAE) and Mean Squared Error (MSE), higher Peak Signal to
Noise Ratio (PSNR) and better image quality. Finally, new technique
was far superior to JPEG and JPEG2000.
Abstract: Delayed wound healing in diabetes is primarily
associated with hyperglycemia, over-expression of inflammatory
marker, oxidative stress and delayed collagen synthesis. This
unmanaged wound is producing high economic burden on the
society. Thus research is required to develop new and effective
treatment strategies to deal with this emerging issue. Our present
study incorporates the evaluation of wound healing effects of 50%
ethanol extract of Ocimum sanctum (OSE) in streptozotocin
(45mg/kg)-induced diabetic rats with concurrent wound ulcer. The
animals showing diabetes (Blood glucose level >140 and
Abstract: Effectiveness and efficiency of food distribution is necessary to maintain food security in a region. Food supply varies among regions depending on their production capacity; therefore, it is necessary to regulate food distribution. Sea transportation could play a great role in the food distribution system. To play this role and to support transportation needs in the Eastern Indonesia, sea transportation shall be supported by fleet which is adequate and reliable, both in terms of load and worthiness. This research uses Linear Programming (LP) method to analyze food distribution pattern in order to determine the optimal distribution system. In this research, transshipment points have been selected for regions in one province. Comparison between result of modeling and existing shipping route reveals that from 369 existing routes, 54 routes are used for transporting rice, corn, green bean, peanut, soybean, sweet potato, and cassava.
Abstract: Deep cold rolling (DCR) and low plasticity burnishing (LPB) process are cold working processes, which easily produce a smooth and work-hardened surface by plastic deformation of surface irregularities. The present study focuses on the surface roughness and surface hardness aspects of AISI 4140 work material, using fractional factorial design of experiments. The assessment of the surface integrity aspects on work material was done, in order to identify the predominant factors amongst the selected parameters. They were then categorized in order of significance followed by setting the levels of the factors for minimizing surface roughness and/or maximizing surface hardness. In the present work, the influence of main process parameters (force, feed rate, number of tool passes/overruns, initial roughness of the work piece, ball material, ball diameter and lubricant used) on the surface roughness and the hardness of AISI 4140 steel were studied for both LPB and DCR process and the results are compared. It was observed that by using LPB process surface hardness has been improved by 167% and in DCR process surface hardness has been improved by 442%. It was also found that the force, ball diameter, number of tool passes and initial roughness of the workpiece are the most pronounced parameters, which has a significant effect on the work piece-s surface during deep cold rolling and low plasticity burnishing process.
Abstract: Compensating physiological motion in the context
of minimally invasive cardiac surgery has become an attractive
issue since it outperforms traditional cardiac procedures offering
remarkable benefits. Owing to space restrictions, computer vision
techniques have proven to be the most practical and suitable solution.
However, the lack of robustness and efficiency of existing methods
make physiological motion compensation an open and challenging
problem. This work focusses on increasing robustness and efficiency
via exploration of the classes of 1−and 2−regularized optimization,
emphasizing the use of explicit regularization. Both approaches are
based on natural features of the heart using intensity information.
Results pointed out the 1−regularized optimization class as the best
since it offered the shortest computational cost, the smallest average
error and it proved to work even under complex deformations.
Abstract: The objective of this study is to evaluate the
occurrence of fungi in aerobic and anoxic activated sludge from
membrane bioreactors (MBRs). Thirty-six samples of both aerobic
and anoxic activated sludge were taken from 2 MBR treating
domestic wastewater. Over a period of eight months 2 samples from
each plant were taken per month. The samples were prepared for
count and definition of fungi. The obtained data show that, sixty
species belonging to 27 genera were collected from activated sludge
samples under aerobic and anoxic conditions. Regarding to the fungi
definition, under aerobic condition the Geotrichum was found at
(8.8%) followed by Penicillium (75.0%), Yeasts (65.7%) and
Trichoderma (55.5%), while Yeasts (77.1%) Geotrichum
candidumand Penicillium (61.1%) species were the most prevalent in
anoxic activated sludge. The results indicate that activated sludge is
habitat for growth and sporulation of different groups of fungi, both
saprophytic and pathogenic.
Abstract: Gasoline Octane Number is the standard measure of
the anti-knock properties of a motor in platforming processes, that is
one of the important unit operations for oil refineries and can be
determined with online measurement or use CFR (Cooperative Fuel
Research) engines. Online measurements of the Octane number can
be done using direct octane number analyzers, that it is too
expensive, so we have to find feasible analyzer, like ANFIS
estimators.
ANFIS is the systems that neural network incorporated in fuzzy
systems, using data automatically by learning algorithms of NNs.
ANFIS constructs an input-output mapping based both on human
knowledge and on generated input-output data pairs.
In this research, 31 industrial data sets are used (21 data for training
and the rest of the data used for generalization). Results show that,
according to this simulation, hybrid method training algorithm in
ANFIS has good agreements between industrial data and simulated
results.
Abstract: Two freshwater fishes, Rasbora sumatrana
(Cyprinidae) and Poecilia reticulata (guppy) (Poeciliidae) were
exposed for a four-day period in the laboratory condition to a range
of copper (Cu) and cadmium (Cd) concentrations. Mortality was
assessed and median lethal concentrations (LC50) were calculated.
LC50 increased with decrease in mean exposure times for both metals.
For R. sumatrana, LC50s for 24, 48, 72 and 96 hours for Cu were
54.2, 30.3, 18.9 and 5.6 μg/L and for Cd 1440.2, 459.3, 392.3 and
101.6 μg/L respectively. For P. reticulata, LC50s for 24, 48, 72 and
96 hours for Cu were 348.9, 145.4, 61.3 and 37.9 μg/L and for Cd
8205.6, 2827.1, 405.8 and 168.1 μg/L, respectively. Results indicated
that the Cu was more toxic than Cd to both fishes (Cu>Cd) and R.
sumatrana was more sensitive than P. reticulata to the metals.
Abstract: This paper develops driver reaction-time models for
car-following analysis based on human factors. The reaction time
was classified as brake-reaction time (BRT) and
acceleration/deceleration reaction time (ADRT). The BRT occurs
when the lead vehicle is barking and its brake light is on, while the
ADRT occurs when the driver reacts to adjust his/her speed using the
gas pedal only. The study evaluates the effect of driver
characteristics and traffic kinematic conditions on the driver reaction
time in a car-following environment. The kinematic conditions
introduced urgency and expectancy based on the braking behaviour
of the lead vehicle at different speeds and spacing. The kinematic
conditions were used for evaluating the BRT and are classified as
normal, surprised, and stationary. Data were collected on a driving
simulator integrated into a real car and included the BRT and ADRT
(as dependent variables) and driver-s age, gender, driving experience,
driving intensity (driving hours per week), vehicle speed, and
spacing (as independent variables). The results showed that there was
a significant difference in the BRT at normal, surprised, and
stationary scenarios and supported the hypothesis that both urgency
and expectancy had significant effects on BRT. Driver-s age, gender,
speed, and spacing were found to be significant variables for the
BRT in all scenarios. The results also showed that driver-s age and
gender were significant variables for the ADRT. The research
presented in this paper is part of a larger project to develop a driversensitive
in-vehicle rear-end collision warning system.
Abstract: ICA which is generally used for blind source separation
problem has been tested for feature extraction in Speech recognition
system to replace the phoneme based approach of MFCC. Applying
the Cepstral coefficients generated to ICA as preprocessing has
developed a new signal processing approach. This gives much better
results against MFCC and ICA separately, both for word and speaker
recognition. The mixing matrix A is different before and after MFCC
as expected. As Mel is a nonlinear scale. However, cepstrals
generated from Linear Predictive Coefficient being independent
prove to be the right candidate for ICA. Matlab is the tool used for
all comparisons. The database used is samples of ISOLET.
Abstract: In order to calculate the flexural strength of
normal-strength concrete (NSC) beams, the nonlinear actual concrete
stress distribution within the compression zone is normally replaced
by an equivalent rectangular stress block, with two coefficients of α
and β to regulate the intensity and depth of the equivalent stress
respectively. For NSC beams design, α and β are usually assumed
constant as 0.85 and 0.80 in reinforced concrete (RC) codes. From an
earlier investigation of the authors, α is not a constant but significantly
affected by flexural strain gradient, and increases with the increasing
of strain gradient till a maximum value. It indicates that larger
concrete stress can be developed in flexure than that stipulated by
design codes. As an extension and application of the authors- previous
study, the modified equivalent concrete stress block is used here to
produce a series of design charts showing the maximum design limits
of flexural strength and ductility of singly- and doubly- NSC beams,
through which both strength and ductility design limits are improved
by taking into account strain gradient effect.
Abstract: This paper focuses on the 3D reconstruction of
the architectural design of Darul Ridzuan Museum. It has
concentrated on designing exterior part of the building according
to colored digital photo of the real museum. Besides viewing the
architecture, walkthroughs are generated for the user to control
it in an easier way. User can travel through the museum to get
the feel of the environment and to explore the design of the
museum as a whole; both exterior and interior. The result has
shown positive result in terms of realism, navigation, collision
detection, suitability, usability and user-s acceptance. In brief,
the 3D virtual museum has provided an alternative to present a
real museum.
Abstract: There has been a growing interest in the field of
bio-mimetic robots that resemble the shape of an insect or an aquatic
animal, among many others. One bio-mimetic robot serves the
purpose of exploring pipelines, spotting any troubled areas or
malfunctions and reporting its data. Moreover, the robot is able to
prepare for and react to any abnormal routes in the pipeline. In order
to move effectively inside a pipeline, the robot-s movement will
resemble that of a lizard. When situated in massive pipelines with
complex routes, the robot places fixed sensors in several important
spots in order to complete its monitoring. This monitoring task is to
prevent a major system failure by preemptively recognizing any minor
or partial malfunctions. Areas uncovered by fixed sensors are usually
impossible to provide real-time observation and examination, and thus
are dependant on periodical offline monitoring. This paper provides
the Monitoring System that is able to monitor the entire area of
pipelines–with and without fixed sensors–by using the bio-mimetic
robot.