Abstract: This paper deals with motion planning of multiple
mobile robots. Mobile robots working together to achieve several
objectives have many advantages over single robot system. However,
the planning and coordination between the mobile robots is
extremely difficult. In the present investigation rule-based and rulebased-
neuro-fuzzy techniques are analyzed for multiple mobile
robots navigation in an unknown or partially known environment.
The final aims of the robots are to reach some pre-defined goals.
Based upon a reference motion, direction; distances between the
robots and obstacles; and distances between the robots and targets;
different types of rules are taken heuristically and refined later to find
the steering angle. The control system combines a repelling influence
related to the distance between robots and nearby obstacles and with
an attracting influence between the robots and targets. Then a hybrid
rule-based-neuro-fuzzy technique is analysed to find the steering
angle of the robots. Simulation results show that the proposed rulebased-
neuro-fuzzy technique can improve navigation performance in
complex and unknown environments compared to this simple rulebased
technique.
Abstract: The Zung self-depression scale and Beck Anxiety Inventory were used both to study the depression and anxiety levels of Armenian Crohn’s disease patients, and to reveal the relation between emotional status and placebo effect of these patients. On the other hand, the blood cell analyses and gut bacteria investigations were used to assess the placebo effect on ESR, and haemoglobin-s and leukocyte-s levels as well as gut commensal E. coli quantities of these patients. Despite of registered high levels of depression and anxiety, the high placebo effect on psychoemotional status for investigated patients during the investigations was described. On the other hand, no positive effect of placebo on measurements of ESP and hemoglobin-s levels of Crohn’s disease patients was revealed. The importance of use of psychotherapies for optimal outcomes during treatments of Crohn’s disease is discussed.
Abstract: The paper presents the multi-element synthetic
transmit aperture (MSTA) method with a small number of elements
transmitting and all elements apertures in medical ultrasound
imaging. As compared to the other methods MSTA allows to
increase the system frame rate and provides the best compromise
between penetration depth and lateral resolution.
In the experiments a 128-element linear transducer array with
0.3 mm pitch excited by a burst pulse of 125 ns duration were used.
The comparison of 2D ultrasound images of tissue mimicking
phantom obtained using the STA and the MSTA methods is
presented to demonstrate the benefits of the second approach. The
results were obtained using SA algorithm with transmit and receive
signals correction based on a single element directivity function.
Abstract: In this paper, we propose a fast and efficient method for drawing very large-scale graph data. The conventional force-directed method proposed by Fruchterman and Rheingold (FR method) is well-known. It defines repulsive forces between every pair of nodes and attractive forces between connected nodes on a edge and calculates corresponding potential energy. An optimal layout is obtained by iteratively updating node positions to minimize the potential energy. Here, the positions of the nodes are updated every global timestep at the same time. In the proposed method, each node has its own individual time and time step, and nodes are updated at different frequencies depending on the local situation. The proposed method is inspired by the hierarchical individual time step method used for the high accuracy calculations for dense particle fields such as star clusters in astrophysical dynamics. Experiments show that the proposed method outperforms the original FR method in both speed and accuracy. We implement the proposed method on the MDGRAPE-3 PCI-X special purpose parallel computer and realize a speed enhancement of several hundred times.
Abstract: The present study describes the biosynthesis of a milkclotting
protease by solid state fermentation (SSF) of a locally
isolated mould, Rhizopus stolonifer. The production medium was
prepared using wheat bran at 50% (w/v). The production conditions
are optimized by varying 7 parameters: carbon and nitrogen sources,
medium moisture, temperature, pH, fermentation time and
inoculum-s size. The maximum enzyme synthesis was measured after
96 h of incubation time at temperature of 28°C. The optimum pH
determined was 6 and the inoculum size was 3.106spores/ml. The
optimum initial moisture content is comprised between 50 to 70%.
The formation of milk clotting protease is enhanced when galactose
and peptone are used at 10% (w/v) and 1% (w/v) concentrations
respectively. The maximum production of milk clotting protease is
120 US/ml.
Abstract: The future of business intelligence (BI) is to integrate
intelligence into operational systems that works in real-time
analyzing small chunks of data based on requirements on continuous
basis. This is moving away from traditional approach of doing
analysis on ad-hoc basis or sporadically in passive and off-line mode
analyzing huge amount data. Various AI techniques such as expert
systems, case-based reasoning, neural-networks play important role
in building business intelligent systems. Since BI involves various
tasks and models various types of problems, hybrid intelligent
techniques can be better choice. Intelligent systems accessible
through web services make it easier to integrate them into existing
operational systems to add intelligence in every business processes.
These can be built to be invoked in modular and distributed way to
work in real time. Functionality of such systems can be extended to
get external inputs compatible with formats like RSS. In this paper,
we describe a framework that use effective combinations of these
techniques, accessible through web services and work in real-time.
We have successfully developed various prototype systems and done
few commercial deployments in the area of personalization and
recommendation on mobile and websites.
Abstract: The purpose of this research was to study the behavior
trend factors of consumers to roasted coffee at the petrol station on
the route of Rangsit to Nakhon Nayok. The research drew upon data
collected from the regular consumers of roasted coffee stands. The
majority of respondents was male, 33-39 years old, and holding a
bachelor degree. The majority of respondents considered themselves
private business proprietors or entrepreneurs and had a monthly
income of between 10,000-16,000 baht. The regular coffee
consumers spent a minimum coffee expense of between 45 and 300
baht per day. These consumers also displayed good attitude and good
motivation which can be ranked as very high. From the hypothesis
testing of the behavior trend for the roasted coffee consumers in
repurchasing coffee and recommended the coffee to others, the
findings revealed that it had a significant correlation. Moreover, the
overall attitude towards the marketing mix factors also had a
significant correlation with the behavior trend consumers.
Abstract: Essential hypertension (HTN) usually clusters with other cardiovascular risk factors such as age, overweight, diabetes, insulin resistance and dyslipidemia. The target organ damage (TOD) such as left ventricular hypertrophy, microalbuminuria (MA), acute coronary syndrome (ACS), stroke and cognitive dysfunction takes place early in course of hypertension. Though the prevalence of hypertension is high in India, the relationship between microalbuminuria and target organ damage in hypertension is not well studied. This study aim at detecting MA in essential hypertension and its relation to severity of HTN, duration of HTN, body mass index (BMI), age and TOD such as HTN retinopathy and acute coronary syndrome The present study was done in 100 patients of essential hypertension non diabetics admitted to B.L.D.E.University-s Sri B.M.Patil Medical College, Bijapur, from October 2008 to April 2011. The patients underwent detailed history and clinical examination. Early morning 5 ml of urine sample was collected & MA was estimated by immunoturbidometry method. The relationship of MA with the duration & severity of HTN, BMI, age, sex and TOD's like hypertensive retinopathy, ACS was assessed by univariate analysis. The prevalence of MA in this study was found to be 63 %. In that 42% were male & 21% were female. In this study a significant association between MA and the duration of hypertension (p = 0.036) & (OR =0.438). Longer the duration of hypertension, more possibility of microalbumin in urine. Also there was a significant association between severity of hypertension and MA (p=0.045) and (OR=0.093). MA was positive in 50 (79.4%) patients out of 63, whose blood pressure was >160/100 mm Hg. In this study a significant association between MA and the grades of hypertensive retinopathy (p =0.011) and acute coronary syndrome (p = 0.041) (OR =2.805). Gender and BMI did not pose high risk for MA in this study.The prevalence of MA in essential hypertension is high in this part of the community and MA will increase the risk of developing target organ damage.Early screening of patients with essential hypertension for MA and aggressive management of positive cases might reduce the burden of chronic kidney diseases and cardiovascular diseases in the community.
Abstract: Numerical studies on race car aerodynamics at wing
in ground effect have been carried out using a steady 3d, double
precision, pressure-based, and standard k-epsilon turbulence model.
Through various parametric analytical studies we have observed that
at a particular speed and ground clearance of the wings a favorable
negative lift was found high at a particular angle of attack for all the
physical models considered in this paper. The fact is that if the
ground clearance height to chord length (h/c) is too small, the
developing boundary layers from either side (the ground and the
lower surface of the wing) can interact, leading to an altered variation
of the aerodynamic characteristics at wing in ground effect. Therefore
a suitable ground clearance must be predicted throughout the racing
for a better performance of the race car, which obviously depends
upon the coupled effects of the topography, wing orientation with
respect to the ground, the incoming flow features and/or the race car
speed. We have concluded that for the design of high performance
and high speed race cars the adjustable wings capable to alter the
ground clearance and the angles of attack is the best design option for
any race car for racing safely with variable speeds.
Abstract: Water borne polyurethane (PU) based on newly prepared hyperbranched poly (amine-ester) (HBPAE) was applied and evaluated as organic coating material. HBPAE was prepared through one-pot synthesis between trimethylol propane as a core and AB2 branched monomer which was obtained via Michal addition of methyl methacrylate (MMA) and diethanol amine (DEA). PU was prepared from HBPAE using different ratios of toluene diisocyanate (TDI) to form cured coating film. The prepared HBPAE was characterized using; GPC, FT-IR and 1H-NMR. The mechanical properties (impact, hardness, adhesion, and flexibility), thermal properties (DSC and TGA) and chemical resistance of the applied film were estimated. The results indicated 50% of TDI is the selected ratio. This formulation represents a promising candidate to be used as coating material.
Abstract: The effect of small non-parallelism of the base flow
on the stability of slightly curved mixing layers is analyzed in the
present paper. Assuming that the instability wavelength is much
smaller than the length scale of the variation of the base flow we
derive an amplitude evolution equation using the method of multiple
scales. The proposed asymptotic model provides connection between
parallel flow approximations and takes into account slow
longitudinal variation of the base flow.
Abstract: With the long-term objective of Critical Heat Flux (CHF) prediction, a Direct Numerical Simulation (DNS) framework for simulation of subcooled and saturated nucleate pool boiling is developed. One case of saturated, and three cases of subcooled boiling at different subcooling levels are simulated. Grid refinement study is also reported. Both boiling and condensation phenomena can be computed simultaneously in the proposed numerical framework. Computed bubble detachment diameters of the saturated nucleate pool boiling cases agree well with the experiment. The flow structures around the growing bubble are presented and the accompanying physics is described. The relation between heat flux evolution from the heated wall and the bubble growth is studied, along with investigations of temperature distribution and flow field evolutions.
Abstract: In this paper, an adaptive polarized Multiple-Input
Multiple-Output (MIMO) Multicarrier Spread Spectrum Code Division Multiple Access (MC-SS-CDMA) system is designed for downlink mobile communications. The proposed system will be
examined in Frequency Division Duplex (FDD) mode for both macro urban and suburban environments. For the same transmission
bandwidth, a performance comparison between both nonoverlapped and orthogonal Frequency Division Multiplexing (FDM) schemes will be presented. Also, the proposed system will be compared with
both the closed loop vertical MIMO MC-SS-CDMA system and the
synchronous vertical STBC-MIMO MC-SS-CDMA system. As will
be shown, the proposed system introduces a significant performance
gain as well as reducing the spatial dimensions of the MIMO system
and simplifying the receiver implementation. The effect of the
polarization diversity characteristics on the BER performance will be
discussed. Also, the impact of excluding the cross-polarization MCSS-
CDMA blocks in the base station will be investigated. In addition,
the system performance will be evaluated under different Feedback
Information (FBI) rates for slowly-varying channels. Finally, a
performance comparison for vehicular and pedestrian environments
will be presented
Abstract: This article deals with numerical simulation of the
floor heating convector in 3D. Numerical simulation is focused on
cooling mode of the floor heating convector. Geometrical model
represents section of the heat exchanger – two fins with the gap
between, pipes are not involved. Two types of fin are examined –
sinusoidal and angular shape with different fin spacing. Results of fin
spacing in case of constant Reynolds number are presented. For the
numerical simulation was used commercial software Ansys Fluent.
Abstract: Since Network-on-Chip (NoC) uses network
interfaces (NIs) to improve the design productivity, by now, there
have been a few papers addressing the design and implementation of a
NI module. However, none of them considered the difference of
address encoding methods between NoC and the traditional
bus-shared architecture. On the basis of this difference, in the paper,
we introduce a transmit mechanism to solve such a problem for global
asynchronous locally synchronous (GALS) NoC. Furthermore, we
give the concrete implementation of the NI module in this transmit
mechanism. Finally, we evaluate its performance and area overhead
by a VHDL-based cycle-accurate RTL model and simulation results
confirm the validity of this address-oriented transmit mechanism.
Abstract: This paper aims to scale up Dye-sensitized Solar Cell
(DSSC) production using a commonly available industrial material –
stainless steel - and industrial plasma equipment. A working DSSC
electrode formed by (1) coating titania nanotube (TiO2 NT) film on
304 stainless steel substrate using a plasma spray technique; then, (2)
filling the nano-pores of the TiO2 NT film using a TiF4 sol-gel method.
A DSSC device consists of an anode absorbed photosensitive dye
(N3), a transparent conductive cathode with platinum (Pt)
nano-catalytic particles adhered to its surface, and an electrolytic
solution sealed between the anode and the transparent conductive
cathode. The photo-current conversion efficiency of the DSSC sample
was tested under an AM 1.5 Solar Simulator. The sample has a short
current (Isc) of 0.83 mA cm-2, open voltage (Voc) of 0.81V, filling
factor (FF) of 0.52, and conversion efficiency (η) of 2.18% on a 0.16
cm2 DSSC work-piece.
Abstract: Machine Translation (MT) between the Thai and English languages has been a challenging research topic in natural language processing. Most research has been done on English to Thai machine translation, but not the other way around. This paper presents a Thai to English Machine Translation System that translates a Thai sentence into interlingua of a Thai LFG tree using LFG grammar and a bottom up parser. The Thai LFG tree is then transformed into the corresponding English LFG tree by pattern matching and node transformation. Finally, an equivalent English sentence is created using structural information prescribed by the English LFG tree. Based on results of experiments designed to evaluate the performance of the proposed system, it can be stated that the system has been proven to be effective in providing a useful translation from Thai to English.
Abstract: The research on two-wheels balancing robot has
gained momentum due to their functionality and reliability when
completing certain tasks. This paper presents investigations into the
performance comparison of Linear Quadratic Regulator (LQR) and
PID-PID controllers for a highly nonlinear 2–wheels balancing robot.
The mathematical model of 2-wheels balancing robot that is highly
nonlinear is derived. The final model is then represented in statespace
form and the system suffers from mismatched condition. Two
system responses namely the robot position and robot angular
position are obtained. The performances of the LQR and PID-PID
controllers are examined in terms of input tracking and disturbances
rejection capability. Simulation results of the responses of the
nonlinear 2–wheels balancing robot are presented in time domain. A
comparative assessment of both control schemes to the system
performance is presented and discussed.
Abstract: Sign language recognition has been a topic of research since the first data glove was developed. Many researchers have attempted to recognize sign language through various techniques. However none of them have ventured into the area of Pakistan Sign Language (PSL). The Boltay Haath project aims at recognizing PSL gestures using Statistical Template Matching. The primary input device is the DataGlove5 developed by 5DT. Alternative approaches use camera-based recognition which, being sensitive to environmental changes are not always a good choice.This paper explains the use of Statistical Template Matching for gesture recognition in Boltay Haath. The system recognizes one handed alphabet signs from PSL.
Abstract: According to the majority and to stereotypes in a simple everyman religious processes in the world in general, and Kazakhstan in particular, have only negative trends. The main reason for the author's opinion is seen in the fact that the media in the pursuit of ratings and sensation, more inclined to highlight the negative aspects of events in the country and the world of processes forgetting or casually mentioning the positive initiatives and achievements. That is why the article is mainly revealed positive trends in mind that the problems of fanaticism, terrorism and the confrontation of society on various issues, a lot has been written and detailed. This article describes the stages in the development of relations between religion and state, as well as institutionalization, networking and assistance in the correct orientation of religious activities in the country.