Abstract: The paper presents a method for a simple and
immediate motion planning of a SCARA robot, whose end-effector
has to move along a given trajectory; the calculation procedure
requires the user to define in analytical form or by points the
trajectory to be followed and to assign the curvilinear abscissa as
function of the time. On the basis of the geometrical characteristics
of the robot, a specifically developed program determines the motion
laws of the actuators that enable the robot to generate the required
movement; this software can be used in all industrial applications for
which a SCARA robot has to be frequently reprogrammed, in order
to generate various types of trajectories with different motion times.
Abstract: We proposed a Hyperbolic Gompertz Growth Model
(HGGM), which was developed by introducing a shape parameter
(allometric). This was achieved by convoluting hyperbolic sine
function on the intrinsic rate of growth in the classical gompertz
growth equation. The resulting integral solution obtained
deterministically was reprogrammed into a statistical model and used
in modeling the height and diameter of Pines (Pinus caribaea). Its
ability in model prediction was compared with the classical gompertz
growth model, an approach which mimicked the natural variability of
height/diameter increment with respect to age and therefore provides
a more realistic height/diameter predictions using goodness of fit
tests and model selection criteria. The Kolmogorov Smirnov test and
Shapiro-Wilk test was also used to test the compliance of the error
term to normality assumptions while the independence of the error
term was confirmed using the runs test. The mean function of top
height/Dbh over age using the two models under study predicted
closely the observed values of top height/Dbh in the hyperbolic
gompertz growth models better than the source model (classical
gompertz growth model) while the results of R2, Adj. R2, MSE and
AIC confirmed the predictive power of the Hyperbolic Gompertz
growth models over its source model.
Abstract: Transmission shafts are affected by various forces, for
example, during acceleration or sudden breaks, bending during
transportation, vertical forces that lead to cuts. One of the main
failures in combines is breaking shaft which repairmen refer it.
Structural resistance of canal against torque is very important in the
beginning of the movement. For analyzing stress, a typical sample
from a type of combine was selected, called JD955 combine. Long
shaft in this combine was analyzed with finite element method by
Ansys13 generic package under static load. Conducted analysis
showed that there is a maximum stress in contact surfaces of
indentations and also in place of changing diameter. Safety factor
value is low in parts of the shaft and this increases the probability of
failure at these points. To improve the conditions with the least cost
and an approach of product improvement, using alternative alloy is
important.
Abstract: The aims of this study were to determine the factor
structure and psychometric properties (i.e., reliability and convergent
validity) of the Malaysian Multi-Ethnic Discrimination Scale
(MMEDS). It consists of 71-items measure experience, strategies
used and consequences of ethnic discrimination. A sample of 649
university students from one of the higher education institution in
Malaysia was asked to complete MMEDS, as well as Perceived
Ethnic and Racial Discrimination. The exploratory factor analysis on
ethnic discrimination experience extracted two factors labeled ‘unfair
treatment’ (15 items) and ‘Denial of the ethnic right’ (12 items)
which accounted for 60.92% of the total variance. The two sub scales
demonstrated clear reliability with internal consistency above .70.
The convergent validity of the Scale was supported by an expected
pattern of correlations (positive and significant correlation) between
the score of unfair treatment and denial of the ethnic right and the
score of Perceived Ethnic and Racial Discrimination by Peers Scale.
The results suggest that the MMEDS is a reliable and valid measure.
However, further studies need to be carried out in other groups of
sample as to validate the Scale.
Abstract: PhilSHORE is a multi-site, multi-device and multicriteria
decision support tool designed to support the development of
tidal current energy in the Philippines. Its platform is based on
Geographic Information Systems (GIS) which allows for the
collection, storage, processing, analyses and display of geospatial
data. Combining GIS tools with open source web development
applications, PhilSHORE becomes a webGIS-based marine spatial
planning tool. To date, PhilSHORE displays output maps and graphs
of power and energy density, site suitability and site-device analysis.
It enables stakeholders and the public easy access to the results of
tidal current energy resource assessments and site suitability
analyses. Results of the initial development show that PhilSHORE is
a promising decision support tool for ORE project developments.
Abstract: Coal is an important non-renewable energy source of
and can be associated with radioactive elements. In Figueira city,
Paraná state, Brazil, it was recorded high uranium activity near the
coal mine that supplies a local thermoelectric power plant. In this
context, the radon activity (Rn-222, produced by the Ra-226 decay in
the U-238 natural series) was evaluated in groundwater, river water
and effluents produced from the acid mine drainage in the coal reject
dumps. The samples were collected in August 2013 and in February
2014 and analyzed at LABIDRO (Laboratory of Isotope and
Hydrochemistry), UNESP, Rio Claro city, Brazil, using an alpha
spectrometer (AlphaGuard) adjusted to evaluate the mean radon
activity concentration in five cycles of 10 minutes. No radon activity
concentration above 100 Bq.L-1, which was a previous critic value
established by the World Health Organization. The average radon
activity concentration in groundwater was higher than in surface
water and in effluent samples, possibly due to the accumulation of
uranium and radium in the aquifer layers that favors the radon
trapping. The lower value in the river waters can indicate dilution and
the intermediate value in the effluents may indicate radon absorption
in the coal particles of the reject dumps. The results also indicate that
the radon activities in the effluents increase with the sample
acidification, possibly due to the higher radium leaching and the
subsequent radon transport to the drainage flow. The water samples
of Laranjinha River and Ribeirão das Pedras stream, which,
respectively, supply Figueira city and receive the mining effluent,
exhibited higher pH values upstream the mine, reflecting the acid
mine drainage discharge. The radionuclides transport indicates the
importance of monitoring their activity concentration in natural
waters due to the risks that the radioactivity can represent to human
health.
Abstract: Fly ash (FA) thanks to the significant presence of SiO2
and Al2O3 as the main components is a potential raw material for
geopolymers production. Mechanical activation is a method for
improving FA reactivity and also the porosity of final mixture; those
parameters can be analysed through sorption properties. They have
direct impact on the durability of fly ash based geopolymer mortars.
In the paper, effect of FA fineness on sorption properties of
geopolymers based on sodium silicate, as well as relationship
between fly ash fineness and apparent density, compressive and
flexural strength of geopolymers are presented. The best results in the
evaluated area reached the sample H1, which contents the highest
portion of particle under 20μm (100% of GFA). The interdependence
of individual tested properties was confirmed for geopolymer
mixtures corresponding to those in the cement based mixtures: higher
is portion of fine particles < 20μm, higher is strength, density and
lower are sorption properties. The compressive strength as well as
sorption parameters of the geopolymer can be reasonably controlled
by grinding process and also ensured by the higher share of fine
particle (to 20μm) in total mass of the material.
Abstract: The efficiency of the actuation system of exoskeletons
and active orthoses for lower limbs is a significant aspect of the
design of such devices because it affects their efficacy. The F-IVT is
an innovative actuation system to power artificial knee joint with
energy recovery capabilities. Its key and non-conventional elements
are a flywheel that acts as a mechanical energy storage system, and
an Infinitely Variable Transmission (IVT). The design of the F-IVT
can be optimized for a certain walking condition, resulting in a heavy
reduction of both the electric energy consumption and of the electric
peak power. In this work, by means of simulations of level ground
walking at different speeds, it is demonstrated that the F-IVT is still
an advantageous actuator which permits to save energy consumption
and to downsize the electric motor even when it does not work in
nominal conditions.
Abstract: The purpose of the paper is to examine the most
critical and important factor which will affect the implementation of
Total Quality Management (TQM) in the construction industry in the
United Arab Emirates. It also examines the most effected Project
outcome from implementing TQM. A framework was also proposed
depending on the literature studies. The method used in this paper is a
quantitative study. A survey with a sample of 60 respondents was
created and distributed in a construction company in Abu Dhabi,
which includes 15 questions to examine the most critical factor that
will affect the implementation of TQM in addition to the most
effected project outcome from implementing TQM. The survey
showed that management commitment is the most important factor in
implementing TQM in a construction company. Also it showed that
Project cost is most effected outcome from the implementation of
TQM.
Management commitment is very important for implementing
TQM in any company. If the management loose interest in quality
then everyone in the organization will do so. The success of TQM
will depend mostly on the top of the pyramid. Also cost is reduced
and money is saved when the project team implement TQM. While if
no quality measures are present within the team, the project will
suffer a commercial failure.
Based on literature, more factors can be examined and added to
the model. In addition, more construction companies could be
surveyed in order to obtain more accurate results. Also this study
could be conducted outside the United Arab Emirates for further
enchantment.
Abstract: Grid is an environment with millions of resources
which are dynamic and heterogeneous in nature. A computational
grid is one in which the resources are computing nodes and is meant
for applications that involves larger computations. A scheduling
algorithm is said to be efficient if and only if it performs better
resource allocation even in case of resource failure. Resource
allocation is a tedious issue since it has to consider several
requirements such as system load, processing cost and time, user’s
deadline and resource failure. This work attempts in designing a
resource allocation algorithm which is cost-effective and also targets
at load balancing, fault tolerance and user satisfaction by considering
the above requirements. The proposed Budget Constrained Load
Balancing Fault Tolerant algorithm with user satisfaction (BLBFT)
reduces the schedule makespan, schedule cost and task failure rate
and improves resource utilization. Evaluation of the proposed
BLBFT algorithm is done using Gridsim toolkit and the results are
compared with the algorithms which separately concentrates on all
these factors. The comparison results ensure that the proposed
algorithm works better than its counterparts.
Abstract: An Australian manufacturer has fabricated an
innovative GFRP sandwich panel made from E-glass fiber skin and a
modified phenolic core for structural applications. Debonding, which
refers to separation of skin from the core material in composite
sandwiches, is one of the most common types of damage in
composites. The presence of debonding is of great concern because it
not only severely affects the stiffness but also modifies the dynamic
behaviour of the structure. Generally it is seen that the majority of
research carried out has been concerned about the delamination of
laminated structures whereas skin-core debonding has received
relatively minor attention. Furthermore it is observed that research
done on composite slabs having multiple skin-core debonding is very
limited. To address this gap, a comprehensive research investigating
dynamic behaviour of composite panels with single and multiple
debonding is presented. The study uses finite-element modelling and
analyses for investigating the influence of debonding on free
vibration behaviour of single and multilayer composite sandwich
panels. A broad parametric investigation has been carried out by
varying debonding locations, debonding sizes and support conditions
of the panels in view of both single and multiple debonding.
Numerical models were developed with Strand7 finite element
package by innovatively selecting the suitable elements to diligently
represent their actual behavior. Three-dimensional finite element
models were employed to simulate the physically real situation as
close as possible, with the use of an experimentally and numerically
validated finite element model. Comparative results and conclusions
based on the analyses are presented. For similar extents and locations
of debonding, the effect of debonding on natural frequencies appears
greatly dependent on the end conditions of the panel, giving greater
decrease in natural frequency when the panels are more restrained.
Some modes are more sensitive to debonding and this sensitivity
seems to be related to their vibration mode shapes. The fundamental
mode seems generally the least sensitive mode to debonding with
respect to the variation in free vibration characteristics. The results
indicate the effectiveness of the developed three dimensional finite
element models in assessing debonding damage in composite
sandwich panels.
Abstract: Availability of different genetic tests after completion
of Human Genome Project increases the physicians’ responsibility to
keep themselves update on the potential implementation of these
genetic tests in their daily practice. However, due to numbers of
barriers, still many of physicians are not either aware of these tests or
are not willing to offer or refer their patients for genetic tests. This
study was conducted an anonymous, cross-sectional, mailed-based
survey to develop a primary data of Malaysian physicians’ level of
knowledge and perception of gene profiling. Questionnaire had 29
questions. Total scores on selected questions were used to assess the
level of knowledge. The highest possible score was 11. Descriptive
statistics, one way ANOVA and chi-squared test was used for
statistical analysis. Sixty three completed questionnaires were
returned by 27 general practitioners (GPs) and 36 medical specialists.
Responders’ age ranges from 24 to 55 years old (mean 30.2 ± 6.4).
About 40% of the participants rated themselves as having poor level
of knowledge in genetics in general whilst 60% believed that they
have fair level of knowledge; however, almost half (46%) of the
respondents felt that they were not knowledgeable about available
genetic tests. A majority (94%) of the responders were not aware of
any lab or company which is offering gene profiling services in
Malaysia. Only 4% of participants were aware of using gene profiling
for detection of dosage of some drugs. Respondents perceived greater
utility of gene profiling for breast cancer (38%) compared to the
colorectal familial cancer (3%). The score of knowledge ranged from
2 to 8 (mean 4.38 ± 1.67). Non- significant differences between score
of knowledge of GPs and specialists were observed, with score of
4.19 and 4.58 respectively. There was no significant association
between any demographic factors and level of knowledge. However,
those who graduated between years 2001 to 2005 had higher level of
knowledge. Overall, 83% of participants showed relatively high level
of perception on value of gene profiling to detect patient’s risk of
disease. However, low perception was observed for both statements
of using gene profiling for general population in order to alter their
lifestyle (25%) as well as having the full sequence of a patient
genome for the purpose of determining a patient’s best match for
treatment (18%). The lack of clinical guidelines, limited provider
knowledge and awareness, lack of time and resources to educate
patients, lack of evidence-based clinical information and cost of tests
were the most barriers of ordering gene profiling mentioned by
physicians. In conclusion Malaysian physicians who participate in
this study had mediocre level of knowledge and awareness in gene
profiling. The low exposure to the genetic questions and problems
might be a key predictor of lack of awareness and knowledge on
available genetic tests. Educational and training workshop might be useful in helping Malaysian physicians incorporate genetic profiling
into practice for eligible patients.
Abstract: Technology, multimedia in Open Educational
Resources, can contribute positively to student performance in an
online instructional environment. Student performance data of past
four years were obtained from an online course entitled Applied
Calculus (MA139). This paper examined the data to determine
whether multimedia (independent variable) had any impact on
student performance (dependent variable) in online math learning,
and how students felt about the value of the technology. Two groups
of student data were analyzed, group 1 (control) from the online
applied calculus course that did not use multimedia instructional
materials, and group 2 (treatment) of the same online applied calculus
course that used multimedia instructional materials. For the MA139
class, results indicate a statistically significant difference (p = .001)
between the two groups, where group 1 had a final score mean of
56.36 (out of 100), group 2 of 70.68. Additionally, student
testimonials were discussed in which students shared their experience
in learning applied calculus online with multimedia instructional
materials.
Abstract: Image enhancement is a challenging issue in many applications. In the last two decades, there are various filters developed. This paper proposes a novel method which removes Gaussian noise from the gray scale images. The proposed technique is compared with Enhanced Fuzzy Peer Group Filter (EFPGF) for various noise levels. Experimental results proved that the proposed filter achieves better Peak-Signal-to-Noise-Ratio PSNR than the existing techniques. The proposed technique achieves 1.736dB gain in PSNR than the EFPGF technique.
Abstract: In this study, ultrasonic assisted machining (UAM) technique is applied in side-surface milling experiment for glass-ceramic workpiece material. The tungsten carbide cutting-tool with diamond coating is used in conjunction with two kinds of cooling/lubrication mediums such as water-soluble (WS) cutting fluid and minimum quantity lubricant (MQL). Full factorial process parameter combinations on the milling experiments are planned to investigate the effect of process parameters on cutting performance. From the experimental results, it tries to search for the better process parameter combination which the edge-indentation and the surface roughness are acceptable. In the machining experiments, ultrasonic oscillator was used to excite a cutting-tool along the radial direction producing a very small amplitude of vibration frequency of 20KHz to assist the machining process. After processing, toolmaker microscope was used to detect the side-surface morphology, edge-indentation and cutting tool wear under different combination of cutting parameters, and analysis and discussion were also conducted for experimental results. The results show that the main leading parameters to edge-indentation of glass ceramic are cutting depth and feed rate. In order to reduce edge-indentation, it needs to use lower cutting depth and feed rate. Water-soluble cutting fluid provides a better cooling effect in the primary cutting area; it may effectively reduce the edge-indentation and improve the surface morphology of the glass ceramic. The use of ultrasonic assisted technique can effectively enhance the surface finish cleanness and reduce cutting tool wear and edge-indentation.
Abstract: The principle of the seismic performance evaluation methods is to provide a measure of capability for a building or set of buildings to be damaged by an earthquake. The common objective of many of these methods is to supply classification criteria. The purpose of this study is to present a method for assessing the seismic performance of structures, based on Pushover method; we are particularly interested in reinforced concrete frame structures, which represent a significant percentage of damaged structures after a seismic event. The work is based on the characterization of seismic movement of the various earthquake zones in terms of PGA and PGD that is obtained by means of SIMQK_GR and PRISM software and the correlation between the points of performance and the scalar characterizing the earthquakes will developed.
Abstract: Introduction: Researchers globally have strived to explore diverse factors that augment the continuation and uptake of family planning methods. Clients’ satisfaction is one of the core determinants facilitating continuation of family planning methods. There is a major debate yet scanty evidence to contrast public and private sectors with respect to client satisfaction. The objective of this study is to compare quality-of-care provided by public and private sectors of Pakistan through a client satisfaction lens. Methods: We used Pakistan Demographic Heath Survey 2012-13 dataset on 3133 women. Ten different multivariate models were made. to explore the relationship between client satisfaction and dependent outcome after adjusting for all known confounding factors and results are presented as OR and AOR (95% CI). Results: Multivariate analyses showed that clients were less satisfied in contraceptive provision from private sector as compared to public sector (AOR 0.92, 95% CI 0.63-1.68) even though the result was not statistically significant. Clients were more satisfied from private sector as compared to the public sector with respect to other determinants of quality-of-care follow-up care (AOR 3.29, 95% CI 1.95-5.55), infection prevention (AOR 2.41, 95% CI 1.60-3.62), counseling services (AOR 2.01, 95% CI 1.27-3.18, timely treatment (AOR 3.37, 95% CI 2.20-5.15), attitude of staff (AOR 2.23, 95% CI 1.50-3.33), punctuality of staff (AOR 2.28, 95% CI 1.92-4.13), timely referring (AOR 2.34, 95% CI 1.63-3.35), staff cooperation (AOR 1.75, 95% CI 1.22-2.51) and complications handling (AOR 2.27, 95% CI 1.56-3.29). Discussion: Public sector has successfully attained substantial satisfaction levels with respect to provision of contraceptives, but it contrasts previous literature from a multi country studies. Our study though in is concordance with a study from Tanzania where public sector was more likely to offer family planning services to clients as compared to private facilities. Conclusion: In majority of the developing countries, public sector is more involved in FP service provision; however, in Pakistan clients’ satisfaction in private sector is more, which opens doors for public-private partnerships and collaboration in the near future.
Abstract: Association rule mining is one of the most important fields of data mining and knowledge discovery. In this paper, we propose an efficient multiple support frequent pattern growth algorithm which we called “MSFP-growth” that enhancing the FPgrowth algorithm by making infrequent child node pruning step with multiple minimum support using maximum constrains. The algorithm is implemented, and it is compared with other common algorithms: Apriori-multiple minimum supports using maximum constraints and FP-growth. The experimental results show that the rule mining from the proposed algorithm are interesting and our algorithm achieved better performance than other algorithms without scarifying the accuracy.
Abstract: The paper presents the trends of Georgian hazelnut market development and analyses the competitive advantages which will help Georgia to enter international hazelnut market using modern technologies. The history of hazelnut crop development and hazelnut varieties in Georgia are discussed. For hazelnut supply analysis trends in hazelnut production are considered, trends in export and import development is evaluated, domestic hazelnut market is studied and analysed based on expert interviews and initial accounting materials. In order to achieve and strengthen its position in international market, potential advantages and disadvantages of Georgian hazelnut are revealed, analysis of export and import possibilities of hazelnut is presented. Recommendations are developed based on the conclusions, which are made through identifying the key factors that hinder development of Georgian hazelnut market.
Abstract: Reflux condensation occurs in vertical channels and tubes when there is an upward core flow of vapour (or gas-vapour mixture) and a downward flow of the liquid film. The understanding of this condensation configuration is crucial in the design of reflux condensers, distillation columns, and in loss-of-coolant safety analyses in nuclear power plant steam generators. The unique feature of this flow is the upward flow of the vapour-gas mixture (or pure vapour) that retards the liquid flow via shear at the liquid-mixture interface. The present model solves the full, elliptic governing equations in both the film and the gas-vapour core flow. The computational mesh is non-orthogonal and adapts dynamically the phase interface, thus produces a sharp and accurate interface. Shear forces and heat and mass transfer at the interface are accounted for fundamentally. This modeling is a big step ahead of current capabilities by removing the limitations of previous reflux condensation models which inherently cannot account for the detailed local balances of shear, mass, and heat transfer at the interface. Discretisation has been done based on finite volume method and co-located variable storage scheme. An in-house computer code was developed to implement the numerical solution scheme. Detailed results are presented for laminar reflux condensation from steam-air mixtures flowing in vertical parallel plate channels. The results include velocity and gas mass fraction profiles, as well as axial variations of film thickness.