Abstract: Developing techniques for mobile robot navigation constitutes one of the major trends in the current
research on mobile robotics. This paper develops a local
model network (LMN) for mobile robot navigation. The
LMN represents the mobile robot by a set of locally valid
submodels that are Multi-Layer Perceptrons (MLPs).
Training these submodels employs Back Propagation (BP) algorithm. The paper proposes the fuzzy C-means (FCM) in this scheme to divide the input space to sub regions, and then a submodel (MLP) is identified to represent a particular
region. The submodels then are combined in a unified
structure. In run time phase, Radial Basis Functions (RBFs) are employed as windows for the activated submodels. This
proposed structure overcomes the problem of changing operating regions of mobile robots. Read data are used in all experiments. Results for mobile robot navigation using the
proposed LMN reflect the soundness of the proposed
scheme.
Abstract: Present wireless communication demands compact and intelligent devices with multitasking capabilities at affordable cost. The focus in the presented paper is on a dual band antenna for wireless communication with the capability of operating at two frequency bands with same structure. Two resonance frequencies are observed with the second operation band at 4.2GHz approximately three times the first resonance frequency at 1.5GHz. Structure is simple loop of microstrip line with characteristic impedance 50 ohms. The proposed antenna is designed using defective ground structure (DGS) and shows the nearly one third reductions in size as compared to without DGS. This antenna was simulated on electromagnetic (EM) simulation software and fabricated using microwave integrated circuit technique on RT-Duroid dielectric substrate (εr= 2.22) of thickness (H=15 mils). The designed antenna was tested on automatic network analyzer and shows the good agreement with simulated results. The proposed structure is modeled into an equivalent electrical circuit and simulated on circuit simulator. Subsequently, theoretical analysis was carried out and simulated. The simulated, measured, equivalent circuit response, and theoretical results shows good resemblance. The bands of operation draw many potential applications in today’s wireless communication.
Abstract: This study aims to investigate mechanical behavior of
deep-drawn cups consisting of aluminum (A1050)/ duralumin
(A2017) multi-layered clad structures with micro- and macro-scale
functional gradients. Such multi-layered clad structures are possibly
used for a new type of crash-boxes in automobiles to effectively
absorb the impact forces generated when automobiles having
collisions. The effect of heat treatments on microstructure,
compositional gradient, micro hardness in 2 and 6-layered aluminum/
duralumin clad structures, which were fabricated by hot rolling, have
been investigated. Impact compressive behavior of deep-drawn cups
consisting of such aluminum/ duralumin clad structures has been also
investigated in terms of energy absorption and maximum force.
Deep-drawn cups consisting of 6-layerd clad structures with microand
macro-scale functional gradients exhibit superior properties in
impact compressive tests.
Abstract: In this paper, a model for an information retrieval
system is proposed which takes into account that knowledge about
documents and information need of users are dynamic. Two
methods are combined, one qualitative or symbolic and the other
quantitative or numeric, which are deemed suitable for many
clustering contexts, data analysis, concept exploring and
knowledge discovery. These two methods may be classified as
inductive learning techniques. In this model, they are introduced to
build “long term" knowledge about past queries and concepts in a
collection of documents. The “long term" knowledge can guide
and assist the user to formulate an initial query and can be
exploited in the process of retrieving relevant information. The
different kinds of knowledge are organized in different points of
view. This may be considered an enrichment of the exploration
level which is coherent with the concept of document/query
structure.
Abstract: The colonic tissue is a complicated dynamic system
and the colonic activities it generates are composed of irregular
segmental waves, which are referred to as erratic fluctuations or spikes.
They are also highly irregular with subunit fractal structure. The
traditional time-frequency domain statistics like the averaged
amplitude, the motility index and the power spectrum, etc. are
insufficient to describe such fluctuations. Thus the fractal
box-counting dimension is proposed and the fractal scaling behaviors
of the human colonic pressure activities under the physiological
conditions are studied. It is shown that the dimension of the resting
activity is smaller than that of the normal one, whereas the clipped
version, which corresponds to the activity of the constipation patient,
shows with higher fractal dimension. It may indicate a practical
application to assess the colonic motility, which is often indicated by
the colonic pressure activity.
Abstract: This paper proposes the analysis and design of robust
fuzzy control to Stochastic Parametrics Uncertaint Linear systems.
This system type to be controlled is partitioned into several linear
sub-models, in terms of transfer function, forming a convex polytope,
similar to LPV (Linear Parameters Varying) system. Once defined the
linear sub-models of the plant, these are organized into fuzzy Takagi-
Sugeno (TS) structure. From the Parallel Distributed Compensation
(PDC) strategy, a mathematical formulation is defined in the frequency
domain, based on the gain and phase margins specifications,
to obtain robust PI sub-controllers in accordance to the Takagi-
Sugeno fuzzy model of the plant. The main results of the paper are
based on the robust stability conditions with the proposal of one
Axiom and two Theorems.
Abstract: The paper presents the results of microhardness and
microstructure of low carbon steel surface melted using carbon
dioxide laser with a wavelength of 10.6μm and a maximum output
power of 2000W. The processing parameters such as the laser power,
and the scanning rate were investigated in this study. After surface
melting two distinct regions formed corresponding to the melted zone
MZ, and the heat affected zone HAZ. The laser melted region
displayed a cellular fine structures while the HAZ displayed
martensite or bainite structure. At different processing parameters,
the original microstructure of this steel (Ferrite+Pearlite) has been
transformed to new phases of martensitic and bainitic structures. The
fine structure and the high microhardness are evidence of the high
cooling rates which follow the laser melting. The melting pool and
the transformed microstructure in the laser surface melted region of
carbon steel showed clear dependence on laser power and scanning
rate.
Abstract: This paper presents a hybrid electric scooter model developed and simulated using Matlab/Simulink. This hybrid scooter modeled has a parallel hybrid structure. The main propulsion units consist of a two stroke internal combustion engine and a hub motor attached to the front wheel of the scooter. The methodology used to optimize the energy and fuel consumption of the hybrid electric scooter is the multi-mode approach. Various case studies were presented to check the model and were compared to the literatures. Results shown that the model developed was feasible and valuable.
Abstract: In this research, we study a control method of a multivehicle
system while considering the limitation of communication
range for each vehicles. When we control networked vehicles with
limitation of communication range, it is important to control the
communication network structure of a multi-vehicle system in order
to keep the network-s connectivity. From this, we especially aim to
control the network structure to the target structure. We formulate
the networked multi-vehicle system with some disturbance and the
communication constraints as a hybrid dynamical system, and then
we study the optimal control problems of the system. It is shown
that the system converge to the objective network structure in finite
time when the system is controlled by the receding horizon method.
Additionally, the optimal control probrems are convertible into the
mixed integer problems and these problems are solvable by some
branch and bound algorithm.
Abstract: In the stadium structure, the significant dynamic
responses such as resonance or similar behavior can be occurred by
spectator rhythmical activities. Thus, accurate analysis and precise
investigation of stadium structure that is subjected to dynamic loads
are required for practical design and serviceability check of stadium
structures. Moreover, it is desirable to measure and analyze the
dynamic loads of spectator activities because these dynamic loads can
not be easily expressed in numerical formula. In this study, various
dynamic loads induced by spectator movements are measured and
analyzed. These dynamic loads induced by spectators movement of
stadium structure can be classified into the impact load and the
periodic load. These dynamic loads can be expressed as Fourier
harmonic load. And, these dynamic loads could be applied for the
accurate vibration analysis of a stadium structure.
Abstract: The feature of HIV genome is in a wide range because
of it is highly heterogeneous. Hence, the infection ability of the virus changes related with different chemokine receptors. From this point,
R5 and X4 HIV viruses use CCR5 and CXCR5 coreceptors respectively while R5X4 viruses can utilize both coreceptors. Recently, in Bioinformatics, R5X4 viruses have been studied to
classify by using the coreceptors of HIV genome.
The aim of this study is to develop the optimal Multilayer
Perceptron (MLP) for high classification accuracy of HIV sub-type viruses. To accomplish this purpose, the unit number in hidden layer
was incremented one by one, from one to a particular number. The statistical data of R5X4, R5 and X4 viruses was preprocessed by the
signal processing methods. Accessible residues of these virus sequences were extracted and modeled by Auto-Regressive Model
(AR) due to the dimension of residues is large and different from each other. Finally the pre-processed dataset was used to evolve MLP with various number of hidden units to determine R5X4
viruses. Furthermore, ROC analysis was used to figure out the optimal MLP structure.
Abstract: In this study, Li4SiO4 powder was successfully
synthesized via sol gel method followed by drying at 150oC. Lithium
oxide, Li2O and silicon oxide, SiO2 were used as the starting
materials with citric acid as the chelating agent. The obtained powder
was then sintered at various temperatures. Crystallographic phase
analysis, morphology and ionic conductivity were investigated
systematically employing X-ray diffraction, Fourier Transform
Infrared, Scanning Electron Microscopy and AC impedance
spectroscopy. XRD result showed the formation of pure monoclinic
Li4SiO4 crystal structure with lattice parameters a = 5.140 Å, b =
6.094 Å, c = 5.293 Å, β = 90o in the sample sintered at 750oC. This
observation was confirmed by FTIR analysis. The bulk conductivity
of this sample at room temperature was 3.35 × 10-6 S cm-1 and the
highest bulk conductivity of 1.16 × 10-4 S cm-1 was obtained at
100°C. The results indicated that, the Li4SiO4 compound has
potential to be used as host for LISICON structured solid electrolyte
for low temperature application.
Abstract: The flow field over a three dimensional pole barn
characterized by a cylindrical roof has been numerically investigated.
Wind pressure and viscous loads acting on the agricultural building
have been analyzed for several incoming wind directions, so as to
evaluate the most critical load condition on the structure. A constant
wind velocity profile, based on the maximum reference wind speed in
the building site (peak gust speed worked out for 50 years return
period) and on the local roughness coefficient, has been simulated.
In order to contemplate also the hazard due to potential air
wedging between the stored hay and the lower part of the ceiling, the
effect of a partial filling of the barn has been investigated.
The distribution of wind-induced loads on the structure have been
determined, allowing a numerical quantification of the effect of wind
direction on the induced stresses acting on a hemicylindrical roof.
Abstract: This research investigates the suitability of fuel oil in
improving gypseous soil. A detailed laboratory tests were carried-out
on two soils (soil I with 51.6% gypsum content, and soil II with
26.55%), where the two soils were obtained from Al-Therthar site
(Al-Anbar Province-Iraq).
This study examines the improvement of soil properties using the
gypsum material which is locally available with low cost to minimize
the effect of moisture on these soils by using the fuel oil. This study
was conducted on two models of the soil gypsum, from the Tharthar
area. The first model was sandy soil with Gypsum content of (51.6%)
and the second is clayey soil and the content of Gypsum is (26.55%).
The program included tests measuring the permeability and
compressibility of the soil and their collapse properties. The shear
strength of the soil and the amounts of weight loss of fuel oil due to
drying had been found. These tests have been conducted on the
treated and untreated soils to observe the effect of soil treatment on
the engineering properties when mixed with varying degrees of fuel
oil with the equivalent of the water content.
The results showed that fuel oil is a good material to modify the
basic properties of the gypseous soil of collapsibility and
permeability, which are the main problems of this soil and retained
the soil by an appropriate amount of the cohesion suitable for
carrying the loads from the structure.
Abstract: Virtual Assembly (VA) is one of the key technologies
in advanced manufacturing field. It is a promising application of
virtual reality in design and manufacturing field. It has drawn much
interest from industries and research institutes in the last two decades.
This paper describes a process for integrating an interactive Virtual
Reality-based assembly simulation of a digital mockup with the
CAD/CAM infrastructure. The necessary hardware and software
preconditions for the process are explained so that it can easily be
adopted by non VR experts. The article outlines how assembly
simulation can improve the CAD/CAM procedures and structures;
how CAD model preparations have to be carried out and which
virtual environment requirements have to be fulfilled. The issue of
data transfer is also explained in the paper. The other challenges and
requirements like anti-aliasing and collision detection have also been
explained. Finally, a VA simulation has been carried out for a ball
valve assembly and a car door assembly with the help of Vizard
virtual reality toolkit in a semi-immersive environment and their
performance analysis has been done on different workstations to
evaluate the importance of graphical processing unit (GPU) in the
field of VA.
Abstract: We study how the outcome of evolutionary dynamics on
graphs depends on a randomness on the graph structure. We gradually
change the underlying graph from completely regular (e.g. a square lattice) to completely random. We find that the fixation probability increases as the randomness increases; nevertheless, the increase is
not significant and thus the fixation probability could be estimated by the known formulas for underlying regular graphs.
Abstract: Steroidal hormones with the efficient changes on the epiphyseal growth plate may influence tissue structure properties. Presents paper to investigate the effects of gonadectomy in the pattern distribution of the epiphyseal structure. Fifteen adult female New Zealand white rabbits were separated into three groups. One group was intact and others groups were selected for surgical operation. From these two groups, one group carried out steroidal administration. The results obtained showed that there is no statistically difference in the mean diameter of the growth plate cells between all three groups. The maximum value of the cartilage cells were allocated to the gonadectomized group and the minimum number were observed in Hormonal induced group significantly. Growth plate height was significantly greater in gonadectomized group than in two other groups.
Abstract: In this paper, we represent protein structure by using
graph. A protein structure database will become a graph database.
Each graph is represented by a spectral vector. We use Jacobi
rotation algorithm to calculate the eigenvalues of the normalized
Laplacian representation of adjacency matrix of graph. To measure
the similarity between two graphs, we calculate the Euclidean
distance between two graph spectral vectors. To cluster the graphs,
we use M-tree with the Euclidean distance to cluster spectral vectors.
Besides, M-tree can be used for graph searching in graph database.
Our proposal method was tested with graph database of 100 graphs
representing 100 protein structures downloaded from Protein Data
Bank (PDB) and we compare the result with the SCOP hierarchical
structure.
Abstract: In this paper, the least-squares design of variable fractional-delay (VFD) finite impulse response (FIR) digital differentiators is proposed. The used transfer function is formulated so that Farrow structure can be applied to realize the designed system. Also, the symmetric characteristics of filter coefficients are derived, which leads to the complexity reduction by saving almost a half of the number of coefficients. Moreover, all the elements of related vectors or matrices for the optimal process can be represented in closed forms, which make the design easier. Design example is also presented to illustrate the effectiveness of the proposed method.
Abstract: Amazing development of the information technology,
communications and internet expansion as well as the requirements
of the city managers to new ideas to run the city and higher
participation of the citizens encourage us to complete the electronic
city as soon as possible. The foundations of this electronic city are in
information technology. People-s participation in metropolitan
management is a crucial topic. Information technology does not
impede this matter. It can ameliorate populace-s participation and
better interactions between the citizens and the city managers.
Citizens can proffer their ideas, beliefs and votes through digital
mass media based upon the internet and computerization plexuses on
the topical matters to receive appropriate replies and services. They
can participate in urban projects by becoming cognizant of the city
views. The most significant challenges are as follows: information
and communicative management, altering citizens- views, as well as
legal and office documents
Electronic city obstacles have been identified in this research. The
required data were forgathered through questionnaires to identify the
barriers from a statistical community comprising specialists and
practitioners of the ministry of information technology and
communication, the municipality information technology
organization.
The conclusions demonstrate that the prioritized electronic city
application barriers in Iran are as follows:
The support quandaries (non-financial ones), behavioral, cultural
and educational plights, the security, legal and license predicaments,
the hardware, orismological and infrastructural curbs, the software
and fiscal problems.