Abstract: In this paper, we propose an architecture for easily
constructing a robot controller. The architecture is a multi-agent
system which has eight agents: the Man-machine interface, Task
planner, Task teaching editor, Motion planner, Arm controller,
Vehicle controller, Vision system and CG display. The controller has
three databases: the Task knowledge database, the Robot database and
the Environment database. Based on this controller architecture, we
are constructing an experimental power distribution line maintenance
robot system and are doing the experiment for the maintenance tasks,
for example, “Bolt insertion task".
Abstract: The evolution of technology and construction techniques has enabled the upgrading of transport networks. In particular, the high-speed rail networks allow convoys to peak at above 300 km/h. These structures, however, often significantly impact the surrounding environment. Among the effects of greater importance are the ones provoked by the soundwave connected to train transit. The wave propagation affects the quality of life in areas surrounding the tracks, often for several hundred metres. There are substantial damages to properties (buildings and land), in terms of market depreciation. The present study, integrating expertise in acoustics, computering and evaluation fields, outlines a useful model to select project paths so as to minimize the noise impact and reduce the causes of possible litigation. It also facilitates the rational selection of initiatives to contain the environmental damage to the already existing railway tracks. The research is developed with reference to the Italian regulatory framework (usually more stringent than European and international standards) and refers to a case study concerning the high speed network in Italy.
Abstract: Cameras are often mounted on platforms that canmove like rovers, booms, gantries and aircraft. People operate suchplatforms to capture desired views of scene or target. To avoidcollisions with the environment and occlusions, such platforms oftenpossess redundant degrees-of-freedom. As a result, manipulatingsuch platforms demands much skill. Visual-servoing some degrees-of-freedom may reduce operator burden and improve tracking per-formance. This concept, which we call human-in-the-loop visual-servoing, is demonstrated in this paper and applies a Α-β-γ filter and feedforward controller to a broadcast camera boom.
Abstract: The study of the variability of the postural strategies
in low back pain patients, as a criterion in evaluation of the
adaptability of this system to the environmental demands is the
purpose of this study. A cross-sectional case-control study was
performed on 21 recurrent non-specific low back pain patients and 21
healthy volunteers. The electromyography activity of Deltoid,
External Oblique (EO), Transverse Abdominis/Internal Oblique
(TrA/IO) and Erector Spine (ES) muscles of each person was
recorded in 75 rapid arm flexion with maximum acceleration.
Standard deviation of trunk muscles onset relative to deltoid muscle
onset were statistically analyzed by MANOVA . The results show
that chronic low back pain patients exhibit less variability in their
anticipatory postural adjustments (APAs) in comparison with the
control group. There is a decrease in variability of postural control
system of recurrent non-specific low back pain patients that can
result in the persistence of pain and chronicity by decreasing the
adaptability to environmental demands.
Abstract: The purposes of this research were 1) to investigate
behavior of media exposure and participation in environmental
activities of King Mongkut-s University of Technology Thonburi
(KMUTT) dormitory students, 2) to compare the correlation between
faculties and participation in environmental activities of KMUTT
dormitory students, and 3) to compare the correlation between media
exposure and participation in environmental activities of KMUTT
dormitory students. The tool used for collecting data was
questionnaire. The research findings revealed that dormitory students
were mostly exposed to the environmental media via public relations
boards for general media and KMUTT dormitory media. Dormitory
students were daily exposed to media via websites on the internet and
weekly for other media. Dormitory students participation in the
environmental activities was at high level (x = 3.65) on an
individual basis and was at medium level (x = 2.76) on a collective
basis. Faculties did not correlate with the participation in
environmental activities of dormitory students at the .01 statistical
level and media exposure via various media correlated with
participation in environmental activities of dormitory students at the
.01 statistical level.
Abstract: Radio frequency identification (RFID) applications have grown rapidly in many industries, especially in indoor location identification. The advantage of using received signal strength indicator (RSSI) values as an indoor location measurement method is a cost-effective approach without installing extra hardware. Because the accuracy of many positioning schemes using RSSI values is limited by interference factors and the environment, thus it is challenging to use RFID location techniques based on integrating positioning algorithm design. This study proposes the location estimation approach and analyzes a scheme relying on RSSI values to minimize location errors. In addition, this paper examines different factors that affect location accuracy by integrating the backpropagation neural network (BPN) with the LANDMARC algorithm in a training phase and an online phase. First, the training phase computes coordinates obtained from the LANDMARC algorithm, which uses RSSI values and the real coordinates of reference tags as training data for constructing an appropriate BPN architecture and training length. Second, in the online phase, the LANDMARC algorithm calculates the coordinates of tracking tags, which are then used as BPN inputs to obtain location estimates. The results show that the proposed scheme can estimate locations more accurately compared to LANDMARC without extra devices.
Abstract: New Growth Theory helps us make sense of the
ongoing shift from a resource-based economy to a knowledge-based
economy. It underscores the point that the economic processes which
create and diffuse new knowledge are critical to shaping the growth
of nations, communities and individual firms. In all too many
contributions to New (Endogenous) Growth Theory – though not in
all – central reference is made to 'a stock of knowledge', a 'stock of
ideas', etc., this variable featuring centre-stage in the analysis. Yet it
is immediately apparent that this is far from being a crystal clear
concept. The difficulty and uncertainty of being able to capture the
value associated with knowledge is a real problem. The intent of this
paper is introducing new thinking and theorizing about the
knowledge and its measurability in new growth theory. Moreover the
study aims to synthesize various strain of the literature with a
practical bearing on knowledge concept. By contribution of
institution framework which is found within NGT, we can indirectly
measure the knowledge concept. Institutions matter because they
shape the environment for production and employment of new
knowledge
Abstract: Construction of portable device for fast analysis of energetic materials is described in this paper. The developed analytical system consists of two main parts: a miniaturized microcolumn liquid chromatograph of unique construction and original chemiluminescence detector. This novel portable device is able to determine selectively most of nitramine- and nitroester-based explosives as well as inorganic nitrates at trace concentrations in water or soil extracts in less than 8 minutes.
Abstract: The quest for alternatefuels for a CI engine has
become all the more imperative considering its importance in the
economy of a nation and from the standpoint of preserving the environment. Reported in this paper are the combustion performance and P-θ characteristics of a CI engine operating on B20 biodiesel fuel derived from Jatropha oil.Itis observed that the twin effect of advancing the injection timing and increasing the injector opening pressure (IOP) up to 220 barhas resulted in minimum brake specific
energy consumption and higherpeak pressure. It is also observed that
the crank angle of occurrence of peak pressure progressestowards top
dead center (TDC) as the timing is advanced and IOP is increased.
Abstract: Internet today has a huge impact on all aspects of life,
and also in the area of the broader context of democracy, politics and
politicians. If democracy is freedom of choice, there are a number of
conditions that can ensure in practice the freedom to be achieved and
realized. These preconditions must be achieved regardless of the
manner of voting. The key contribution of ICT to achieve freedom of
choice is that technology enables the correlation of the citizens and
elected representatives on the better way than it was possible without
the Internet. In this sense, we can say that the Internet and ICT are
changing significantly, and potentially improving the environment in
which democratic processes are taking place. This paper aims to
describe trends in use of ICT in democratic processes, and analyzes
the challenges for implementation of e-Democracy in Montenegro
Abstract: Focusing on the environmental issues, including the reduction of scrap and consumer residuals, along with the benefiting from the economic value during the life cycle of goods/products leads the companies to have an important competitive approach. The aim of this paper is to present a new mixed nonlinear facility locationallocation model in recycling collection networks by considering multi-echelon, multi-suppliers, multi-collection centers and multifacilities in the recycling network. To make an appropriate decision in reality, demands, returns, capacities, costs and distances, are regarded uncertain in our model. For this purpose, a fuzzy mathematical programming-based possibilistic approach is introduced as a solution methodology from the recent literature to solve the proposed mixed-nonlinear programming model (MNLP). The computational experiments are provided to illustrate the applicability of the designed model in a supply chain environment and to help the decision makers to facilitate their analysis.
Abstract: In this paper, we focus on the problem of driving and
herding a collection of autonomous actors to a given area. Then, a
new method based on multi-agent coordination is proposed for
solving the problem.
In our proposed method, we assume that the environment is
covered by sensors. When an event is occurred, sensors forward
information to a sink node. Based on received information, the sink
node will estimate the direction and the speed of movement of actors
and announce the obtained value to the actors. The actors coordinate
to reach the target location.
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: In today-s competitive environment, the security concerns have grown tremendously. In the modern world, possession is known to be 9/10-ths of the law. Hence, it is imperative for one to be able to safeguard one-s property from worldly harms such as thefts, destruction of property, people with malicious intent etc. Due to the advent of technology in the modern world, the methodologies used by thieves and robbers for stealing have been improving exponentially. Therefore, it is necessary for the surveillance techniques to also improve with the changing world. With the improvement in mass media and various forms of communication, it is now possible to monitor and control the environment to the advantage of the owners of the property. The latest technologies used in the fight against thefts and destruction are the video surveillance and monitoring. By using the technologies, it is possible to monitor and capture every inch and second of the area in interest. However, so far the technologies used are passive in nature, i.e., the monitoring systems only help in detecting the crime but do not actively participate in stopping or curbing the crime while it takes place. Therefore, we have developed a methodology to detect the motion in a video stream environment and this is an idea to ensure that the monitoring systems not only actively participate in stopping the crime, but do so while the crime is taking place. Hence, a system is used to detect any motion in a live streaming video and once motion has been detected in the live stream, the software will activate a warning system and capture the live streaming video.
Abstract: The research study is carried out to determine the efficiency of the Biofilm sewage treatment plant which is located at the Engineering Complex-s. Wastewater analyses have been carried out at the Environmental Engineering laboratory to study the six parameters: Biochemical Oxygen Demand BOD, Chemical Oxygen Demand COD l, and Total Suspended Solids TSS, Ammoniac Nitrogen NH3-N and Phosphorous P which have been selected to determine the wastewater quality. The plant was designed to treat 750 Pe (population equivalent) at hydraulic retention time of 5 hours in the aerobic zone. The results show that Biofilm wastewater treatment plant was able to treat sewage successfully at different flow condition. The discharge has fulfilled the Malaysia Environmental of Standard A water quality. The achieved BOD removal is more than 85%, COD is more than 80%, TSS is more than 80%, NH3-N is more than 70%, and P was more than 70%. The Biofilm system provides a very efficient process for sewage treatment and it is compact in structure thus minimizes the required land area.
Abstract: The volume of biosolids produced in Malaysia
nowadays had increased proportionally to its population size. The end
products from the waste treatments were mounting, thus inevitable
that in the end the environment will be surrounded by the waste. This
study was conducted to investigate the suitability of biosolids to be
reused as fertilizer for non-food crop. By varying the concentration of
biosolids applied onto the soil, growth of five ornamental plant
samples were tested for eight consecutive weeks. The results show
that the pH of the soil after the addition of biosolids ranges from 6.45
to 6.56 which is suitable for the plant growth. The soil samples that
contains biosolid also show higher amount of macronutrients (N, P,
K) and the heavy metals content are significantly increased in the
plant however it does not exceed the guidelines drawn by the
Environmental Protection Agency. It is also proven that there was
only small significant different in the performance of plant growth
between biosolids and commercial fertilizer. It can be seen that
biosolids was able to perform just as well as commercial fertilizer.
Abstract: The presence of heavy metals in the environment
could constitute a hazard to food security and public health. These
can be accumulated in aquatic animals such as fish. Samples of four
popular brands of canned fish in the Iranian market (yellowfin tuna,
common Kilka, Kawakawa and longtail tuna) were analyzed for level
of Cr after wet digestion with acids using graphite furnace atomic
absorption spectrophotometry. The mean concentrations for Cr in the
different brands were: 2.57, 3.24, 3.16 and 1.65 μg/g for brands A, B,
C and D respectively. Significant differences were observed in the Cr
levels between all of the different brands of canned fish evaluated in
this study. The Cr concentrations for the varieties of canned fishes
were generally within the FAO/WHO, U.S. FDA and U.S. EPA
recommended limits for fish.
Abstract: Considering toxicity of heavy metals and their
accumulation in domestic wastes, immobilization of lead and
cadmium is envisaged inside glass-ceramics. We particularly
focused this work on calcium-rich phases embedded in a
glassy matrix.
Glass-ceramics were synthesized from glasses doped with
12 wt% and 16 wt% of PbO or CdO. They were observed and
analyzed by Electron MicroProbe Analysis (EMPA) and
Analytical Scanning Electron Microscopy (ASEM). Structural
characterization of the samples was performed by powder XRay
Diffraction.
Diopside crystals of CaMgSi2O6 composition are shown to
incorporate significant amounts of cadmium (up to 9 wt% of
CdO). Two new crystalline phases are observed with very
high Cd or Pb contents: about 40 wt% CdO for the cadmiumrich
phase and near 60 wt% PbO for the lead-rich phase. We
present complete chemical and structural characterization of
these phases. They represent a promising way for the
immobilization of toxic elements like Cd or Pb since glass
ceramics are known to propose a “double barrier" protection
(metal-rich crystals embedded in a glass matrix) against metal
release in the environment.
Abstract: The potential, opportunities and drawbacks of biogas
technology use in Turkey are evaluated in this paper. Turkey is
dependent on foreign sources of energy. Therefore, use of biogas
technology would provide a safe way of waste disposal and recovery
of renewable energy, particularly from a sustainable domestic source,
which is less unlikely to be influenced by international price or
political fluctuations. Use of biogas technology would especially
meet the cooking, heating and electricity demand in rural areas and
protect the environment, additionally creating new job opportunities
and improving social-economical conditions.
Abstract: In the recent past Learning Classifier Systems have
been successfully used for data mining. Learning Classifier System
(LCS) is basically a machine learning technique which combines
evolutionary computing, reinforcement learning, supervised or
unsupervised learning and heuristics to produce adaptive systems. A
LCS learns by interacting with an environment from which it
receives feedback in the form of numerical reward. Learning is
achieved by trying to maximize the amount of reward received. All
LCSs models more or less, comprise four main components; a finite
population of condition–action rules, called classifiers; the
performance component, which governs the interaction with the
environment; the credit assignment component, which distributes the
reward received from the environment to the classifiers accountable
for the rewards obtained; the discovery component, which is
responsible for discovering better rules and improving existing ones
through a genetic algorithm. The concatenate of the production rules
in the LCS form the genotype, and therefore the GA should operate
on a population of classifier systems. This approach is known as the
'Pittsburgh' Classifier Systems. Other LCS that perform their GA at
the rule level within a population are known as 'Mitchigan' Classifier
Systems. The most predominant representation of the discovered
knowledge is the standard production rules (PRs) in the form of IF P
THEN D. The PRs, however, are unable to handle exceptions and do
not exhibit variable precision. The Censored Production Rules
(CPRs), an extension of PRs, were proposed by Michalski and
Winston that exhibit variable precision and supports an efficient
mechanism for handling exceptions. A CPR is an augmented
production rule of the form: IF P THEN D UNLESS C, where
Censor C is an exception to the rule. Such rules are employed in
situations, in which conditional statement IF P THEN D holds
frequently and the assertion C holds rarely. By using a rule of this
type we are free to ignore the exception conditions, when the
resources needed to establish its presence are tight or there is simply
no information available as to whether it holds or not. Thus, the IF P
THEN D part of CPR expresses important information, while the
UNLESS C part acts only as a switch and changes the polarity of D
to ~D. In this paper Pittsburgh style LCSs approach is used for
automated discovery of CPRs. An appropriate encoding scheme is
suggested to represent a chromosome consisting of fixed size set of
CPRs. Suitable genetic operators are designed for the set of CPRs
and individual CPRs and also appropriate fitness function is proposed
that incorporates basic constraints on CPR. Experimental results are
presented to demonstrate the performance of the proposed learning
classifier system.