Abstract: This paper features the kinematic modelling of a 5-axis stationary articulated robot arm which is used for doing successful robotic manipulation task in its workspace. To start with, a 5-axes articulated robot was designed entirely from scratch and from indigenous components and a brief kinematic modelling was performed and using this kinematic model, the pick and place task was performed successfully in the work space of the robot. A user friendly GUI was developed in C++ language which was used to perform the successful robotic manipulation task using the developed mathematical kinematic model. This developed kinematic model also incorporates the obstacle avoiding algorithms also during the pick and place operation.
Abstract: The stone is a constituent part of the geological
structure of the Territory, introducing himself as a subject that has always interconnected human and environment in the development of a discourse of meanings and symbols that reflect elements realized in
different cultures and experiences.
This action meant that the first settlements and their areas of influence gained importance in the field of humanization and spatial
organization of the territory, not only for the appropriation that its
inhabitants did, but mainly because the community regardless of their
economic or social condition, used it as living space and cultural integration.
These factors become decisive in the characterization of the
landscape area in the northwest of Portugal, because the stone is a
material that appears not only in the natural landscape, but is also a strong element in humanized landscape, becoming this relation the
main characterization of the study area.
Abstract: The paper presents the potential for RES in Romania
and the results of the Romanian national research project “Romania
contribution to the European targets regarding the development of
renewable energy sources - PROMES". The objective of the project
is the development of energy generation from renewable energy
sources (RES) in Romania by drawing up scenarios and prognosis
harmonized with national and European targets, RES development
effects modeling (environmental, economic, social etc.), research of
the impact of the penetration of RES into the main, implementation
of an advanced software system tool for RES information recording
and communication, experimental research based on demonstrative
applications.
The expected results are briefly presented, as well as the social,
economic and environmental impact.
Abstract: Removal of Methylene Blue (MB) from aqueous
solution by adsorbing it on Gypsum was investigated by batch
method. The studies were conducted at 25°C and included the effects
of pH and initial concentration of Methylene Blue. The adsorption
data was analyzed by using the Langmuir, Freundlich and Tempkin
isotherm models. The maximum monolayer adsorption capacity was
found to be 36 mg of the dye per gram of gypsum. The data were
also analyzed in terms of their kinetic behavior and was found to
obey the pseudo second order equation.
Abstract: The Long-range Energy and Alternatives Planning (LEAP) energy planning system has been developed for South Africa, for the 2005 base year and a limited number of plausible future scenarios that may have significant implications (negative or positive) in terms of environmental impacts. The system quantifies the national energy demand for the domestic, commercial, transport, industry and agriculture sectors, the supply of electricity and liquid fuels, and the resulting emissions. The South African National Energy Research Institute (SANERI) identified the need to develop an environmental assessment tool, based on the LEAP energy planning system, to provide decision-makers and stakeholders with the necessary understanding of the environmental impacts associated with different energy scenarios. A comprehensive analysis of indicators that are used internationally and in South Africa was done and the available data was accessed to select a reasonable number of indicators that could be utilized in energy planning. A consultative process was followed to determine the needs of different stakeholders on the required indicators and also the most suitable form of reporting. This paper demonstrates the application of Energy Environmental Sustainability Indicators (EESIs) as part of the developed tool, which assists with the identification of the environmental consequences of energy generation and use scenarios and thereby promotes sustainability, since environmental considerations can then be integrated into the preparation and adoption of policies, plans, programs and projects. Recommendations are made to refine the tool further for South Africa.
Abstract: This document describes an electronic speed control designed to drive two DC motors from a 6 V battery pack to be controlled by a commercial universal infrared remote control hand set. Conceived for a tank-like vehicle, one motor drives the left side wheels or tracks and the other motor drives the right side. As it is shown here, there is a left-right steering input and a forward– backward throttles input, like would be used on a model car. It is designed using a microcontroller PIC16F873A.
Abstract: This paper presents the control performance of a high-precision positioning device using the hybrid actuator composed of a piezoelectric (PZT) actuator and a voice-coil motor (VCM). The combined piezo-VCM actuator features two main characteristics: a large operation range due to long stroke of the VCM, and high precision and heavy load positioning ability due to PZT impact force. A one-degree-of-freedom (DOF) experimental setup was configured to examine the fundamental characteristics, and the control performance was effectively demonstrated by using a switching controller. In rough positioning state, an integral variable structure controller (IVSC) was used for the VCM to conduct long range of operation; in precision positioning state, an impact force controller (IFC) for the PZT actuator coupled with presliding states of the sliding table was used to obtain high-precision position control and achieve both forward and backward actuations. The experimental results showed that the sliding table having a mass of 881g and with a preload of 10 N was successfully positioned within the positioning accuracy of 10 nm in both forward and backward position controls.
Abstract: The identification and elimination of bad
measurements is one of the basic functions of a robust state estimator
as bad data have the effect of corrupting the results of state
estimation according to the popular weighted least squares method.
However this is a difficult problem to handle especially when dealing
with multiple errors from the interactive conforming type. In this
paper, a self adaptive genetic based algorithm is proposed. The
algorithm utilizes the results of the classical linearized normal
residuals approach to tune the genetic operators thus instead of
making a randomized search throughout the whole search space it is
more likely to be a directed search thus the optimum solution is
obtained at very early stages(maximum of 5 generations). The
algorithm utilizes the accumulating databases of already computed
cases to reduce the computational burden to minimum. Tests are
conducted with reference to the standard IEEE test systems. Test
results are very promising.
Abstract: Nuclear energy sources have been widely used in the
past decades in order to power spacecraft subsystems. Nevertheless,
their use has attracted controversy because of the risk of harmful
material released into the atmosphere if an accident were to occur
during the launch phase of the mission, leading to the general
adoption of photovoltaic systems.
As compared to solar cells, wind turbines have a great advantage
on Mars, as they can continuously produce power both during dust
storms and at night-time: this paper focuses on the potential of a wind
energy conversion system (WECS) considering the atmospheric
conditions on Mars. Wind potential on Martian surface has been
estimated, as well as the average energy requirements of a Martian
probe or surface rover. Finally, the expected daily energy output of
the WECS has been computed on the basis of both the swept area of
the rotor and the equivalent wind speed at the landing site.
Abstract: We consider linear regression models where both input data (the values of independent variables) and output data (the observations of the dependent variable) are interval-censored. We introduce a possibilistic generalization of the least squares estimator, so called OLS-set for the interval model. This set captures the impact of the loss of information on the OLS estimator caused by interval censoring and provides a tool for quantification of this effect. We study complexity-theoretic properties of the OLS-set. We also deal with restricted versions of the general interval linear regression model, in particular the crisp input – interval output model. We give an argument that natural descriptions of the OLS-set in the crisp input – interval output cannot be computed in polynomial time. Then we derive easily computable approximations for the OLS-set which can be used instead of the exact description. We illustrate the approach by an example.
Abstract: This paper discusses the novel graphical approach for
stability analysis of multi induction motor drive controlled by a single
inverter. Stability issue arises in parallel connected induction motors
under unbalanced load conditions. The two powerful globally
accepted modeling and simulation software packages such as
MATLAB and LabVIEW are selected to perform the stability
analysis. The stability investigation is performed for different load
conditions and difference in stator and rotor resistances among the
two motors. It is very simple and effective than the techniques
presented to obtain the stability of the parallel connected induction
motor drive under unbalanced load conditions. Approximate transfer
functions are considered to model the induction motors, load
dynamics, speed controllers and inverter. Simulink library tools are
utilized to model the entire drive scheme in MATLAB. Stability
study is discussed in LabVIEW using control design and simulation
toolkits. Simulation results are illustrated for various running
conditions to demonstrate the effectiveness of the transfer function
method.
Abstract: The main purpose of this research is the calculation of implicit prices of the environmental level of air quality in the city of Moscow on the basis of housing property prices. The database used contains records of approximately 20 thousand apartments and has been provided by a leading real estate agency operating in Russia. The explanatory variables include physical characteristics of the houses, environmental (industry emissions), neighbourhood sociodemographic and geographic data: GPS coordinates of each house. The hedonic regression results for ecological variables show «negative» prices while increasing the level of air contamination from such substances as carbon monoxide, nitrogen dioxide, sulphur dioxide, and particles (CO, NO2, SO2, TSP). The marginal willingness to pay for higher environmental quality is presented for linear and log-log models.
Abstract: The growth of the aquaculture industry has been
associated with negative environmental impacts through the
discharge of raw effluents into the adjacent receiving water bodies.
Macrophytes from natural saline lakes, which have adaptability to the
high salinity, can be suitable for saline effluent treatment. Eight
emergent species from natural saline area were planted in an
experimental gravel bed hydroponic mesocosm (GBH) which was
treated with effluent water from an intensive fish farm using
geothermal water. In order to examine the applicability of the
halophytes in treatment processes, we tested the relative efficacy of
total nitrogen (TN), total phosphorus (TP), potassium (K), sodium
(Na), magnesium (Mg) and calcium (Ca) removal for the saline
wastewater treatment. Four of the eight species, which were
Phragmites australis, Typha angustifolia, Glyceria maxima, Scirpus
lacustris spp. tabernaemontani could survive and contribute the
experimental treatment.
Abstract: Most of the real queuing systems include special properties and constraints, which can not be analyzed directly by using the results of solved classical queuing models. Lack of Markov chains features, unexponential patterns and service constraints, are the mentioned conditions. This paper represents an applied general algorithm for analysis and optimizing the queuing systems. The algorithm stages are described through a real case study. It is consisted of an almost completed non-Markov system with limited number of customers and capacities as well as lots of common exception of real queuing networks. Simulation is used for optimizing this system. So introduced stages over the following article include primary modeling, determining queuing system kinds, index defining, statistical analysis and goodness of fit test, validation of model and optimizing methods of system with simulation.
Abstract: Cosmic showers, during the transit through space, produce
sub - products as a result of interactions with the intergalactic
or interstellar medium which after entering earth generate secondary
particles called Extensive Air Shower (EAS). Detection and analysis
of High Energy Particle Showers involve a plethora of theoretical and
experimental works with a host of constraints resulting in inaccuracies
in measurements. Therefore, there exist a necessity to develop a
readily available system based on soft-computational approaches
which can be used for EAS analysis. This is due to the fact that soft
computational tools such as Artificial Neural Network (ANN)s can be
trained as classifiers to adapt and learn the surrounding variations. But
single classifiers fail to reach optimality of decision making in many
situations for which Multiple Classifier System (MCS) are preferred
to enhance the ability of the system to make decisions adjusting
to finer variations. This work describes the formation of an MCS
using Multi Layer Perceptron (MLP), Recurrent Neural Network
(RNN) and Probabilistic Neural Network (PNN) with data inputs
from correlation mapping Self Organizing Map (SOM) blocks and
the output optimized by another SOM. The results show that the setup
can be adopted for real time practical applications for prediction
of primary energy and location of EAS from density values captured
using detectors in a circular grid.
Abstract: In this paper, an efficient local appearance feature
extraction method based the multi-resolution Curvelet transform is
proposed in order to further enhance the performance of the well
known Linear Discriminant Analysis(LDA) method when applied
to face recognition. Each face is described by a subset of band
filtered images containing block-based Curvelet coefficients. These
coefficients characterize the face texture and a set of simple statistical
measures allows us to form compact and meaningful feature vectors.
The proposed method is compared with some related feature extraction
methods such as Principal component analysis (PCA), as well
as Linear Discriminant Analysis LDA, and independent component
Analysis (ICA). Two different muti-resolution transforms, Wavelet
(DWT) and Contourlet, were also compared against the Block Based
Curvelet-LDA algorithm. Experimental results on ORL, YALE and
FERET face databases convince us that the proposed method provides
a better representation of the class information and obtains much
higher recognition accuracies.
Abstract: In the traditional architecture, buildings were designed
to achieve human comfort by using locally available building materials and construction technology which were more responsive to
their climatic and geographic condition. This paper will try to bring out the wisdom of the local masons and builders, often the inhabitants
themselves, about their way of living, and shaping their built environment, indoor and outdoor spaces, as a response to the local
climatic conditions, from the findings of a field
settlement.
Abstract: This paper describes the experimental efficiency of a
compact organic Rankine cycle (ORC) system with a compact
rotary-vane-type expander. The compact ORC system can be used for
power generation from low-temperature heat sources such as waste
heat from various small-scale heat engines, fuel cells, electric devices,
and solar thermal energy. The purpose of this study is to develop an
ORC system with a low power output of less than 1 kW with a hot
temperature source ranging from 60°C to 100°C and a cold
temperature source ranging from 10°C to 30°C. The power output of
the system is rather less due to limited heat efficiency. Therefore, the
system should have an economically optimal efficiency. In order to
realize such a system, an efficient and low-cost expander is
indispensable. An experimental ORC system was developed using the
rotary-vane-type expander which is one of possible candidates of the
expander. The experimental results revealed the expander
performance for various rotation speeds, expander efficiencies, and
thermal efficiencies. Approximately 30 W of expander power output
with 48% expander efficiency and 4% thermal efficiency with a
temperature difference between the hot and cold sources of 80°C was
achieved.
Abstract: The intention of this study to design the probability optimized sewing sack-s workstation based on ergonomics for productivity improvement and decreasing musculoskeletal disorders. The physical dimensions of two workers were using to design the new workstation. The physical dimensions are (1) sitting height, (2) mid shoulder height sitting, (3) shoulder breadth, (4) knee height, (5) popliteal height, (6) hip breadth and (7) buttock-knee length. The 5th percentile of buttock knee length sitting (51 cm), the 50th percentile of mid shoulder height sitting (62 cm) and the 95th percentile of popliteal height (43 cm) and hip breadth (45 cm) applied to design the workstation for sewing sack-s operator and the others used to adjust the components of this workstation. The risk assessment by RULA before and after using the probability optimized workstation were 7 and 7 scores and REBA scores were 11 and 5, respectively. Body discomfort-abnormal index was used to assess muscle fatigue of operators before adjustment workstation found that neck muscles, arm muscles area, muscles on the back and the lower back muscles fatigue. Therefore, the extension and flexion exercise was applied to relief musculoskeletal stresses. The workers exercised 15 minutes before the beginning and the end of work for 5 days. After that, the capability of flexion and extension muscles- workers were increasing in 3 muscles (arm, leg, and back muscles).
Abstract: The demand for higher performance graphics
continues to grow because of the incessant desire towards realism.
And, rapid advances in fabrication technology have enabled us to
build several processor cores on a single die. Hence, it is important to
develop single chip parallel architectures for such data-intensive
applications. In this paper, we propose an efficient PIM architectures
tailored for computer graphics which requires a large number of
memory accesses. We then address the two important tasks necessary
for maximally exploiting the parallelism provided by the architecture,
namely, partitioning and placement of graphic data, which affect
respectively load balances and communication costs. Under the
constraints of uniform partitioning, we develop approaches for optimal
partitioning and placement, which significantly reduce search space.
We also present heuristics for identifying near-optimal placement,
since the search space for placement is impractically large despite our
optimization. We then demonstrate the effectiveness of our partitioning
and placement approaches via analysis of example scenes; simulation
results show considerable search space reductions, and our heuristics
for placement performs close to optimal – the average ratio of
communication overheads between our heuristics and the optimal was
1.05. Our uniform partitioning showed average load-balance ratio of
1.47 for geometry processing and 1.44 for rasterization, which is
reasonable.