Abstract: This paper proposes a balance control scheme for a biped robot to trace an arbitrary path using image information. While moving, it estimates the zero moment point(ZMP) of the biped robot in the next step using a Kalman filter and renders an appropriate balanced pose of the robot. The ZMP can be calculated from the robot's pose, which is measured from the reference object image acquired by a CCD camera on the robot's head. For simplifying the kinematical model, the coordinates systems of individual joints of each leg are aligned and the robot motion is approximated as an inverted pendulum so that a simple linear dynamics, 3D-LIPM(3D-Linear Inverted Pendulum Mode) can be applied. The efficiency of the proposed algorithm has been proven by the experiments performed on unknown trajectory.
Abstract: Nowadays, a passenger car suspension must has high
performance criteria with light weight, low cost, and low energy
consumption. Pilot controlled proportional valve is designed and
analyzed to get small pressure change rate after blow-off, and to get a
fast response of the damper, a reverse damping mechanism is adapted.
The reverse continuous variable damper is designed as a HS-SH
damper which offers good body control with reduced transferred input
force from the tire, compared with any other type of suspension
system. The damper structure is designed, so that rebound and
compression damping forces can be tuned independently, of which the
variable valve is placed externally. The rate of pressure change with
respect to the flow rate after blow-off becomes smooth when the fixed
orifice size increases, which means that the blow-off slope is
controllable using the fixed orifice size. Damping forces are measured
with the change of the solenoid current at the different piston
velocities to confirm the maximum hysteresis of 20 N, linearity, and
variance of damping force. The damping force variance is wide and
continuous, and is controlled by the spool opening, of which scheme is
usually adapted in proportional valves. The reverse continuous
variable damper developed in this study is expected to be utilized in
the semi-active suspension systems in passenger cars after its
performance and simplicity of the design is confirmed through a real
car test.
Abstract: Expert systems are used extensively in many domains.
This paper discusses the use of medical expert systems in Pakistan.
Countries all over the world pay special attention on health facilities.
A country like Pakistan faces a lot of trouble in health sector.
Several attempts have been made in Pakistan to improve the health
conditions of the people but the situation is still not encouraging.
There is a shortage of doctors and other trained personnel in
Pakistan. Expert systems can play a vital role in such cases where the
medical expert is not readily available. The purpose of this paper is
to analyze the role that such systems can play in improving the health
conditions of the people in Pakistan.
Abstract: It is the living conditions in the cities that determine the future of our livelihood. “To change life, we must first change space"- Henri Lefebvre. Sustainable development is a utopian aspiration for South African cities (especially the case study of the Gauteng City Region), which are currently characterized by unplanned growth and increasing urban sprawl. While the reasons for poor environmental quality and living conditions are undoubtedly diverse and complex, having political, economical and social dimensions, it is argued that the prevailing approach to layout planning in South Africa is part of the problem. This article seeks a solution to the problem of sustainability, from a spatial planning perspective. The spatial planning tool, the urban development boundary, is introduced as the concept that will ensure empty talk being translated into a sustainable vision. The urban development boundary is a spatial planning tool that can be used and implemented to direct urban growth towards a more sustainable form. The urban development boundary aims to ensure planned urban areas, in contrast to the current unplanned areas characterized by urban sprawl and insufficient infrastructure. However, the success of the urban development boundary concept is subject to effective implementation measures, as well as adequate and efficient management. The concept of sustainable development can function as a driving force underlying societal change and transformation, but the interface between spatial planning and environmental management needs to be established (as this is the core aspects underlying sustainable development), and authorities needs to understand and implement this interface consecutively. This interface can, however, realize in terms of the objectives of the planning tool – the urban development boundary. The case study, the Gauteng City Region, is depicted as a site of economic growth and innovation, but there is a lack of good urban and regional governance, impacting on the design (layout) and function of urban areas and land use, as current authorities make uninformed decisions in terms of development applications, leading to unsustainable urban forms and unsustainable nodes. Place and space concepts are thus critical matters applicable to planning of the Gauteng City Region. The urban development boundary are thus explored as a planning tool to guide decision-making, and create a sustainable urban form, leading to better environmental and living conditions, and continuous sustainability.
Abstract: Regression testing is a maintenance activity applied to
modified software to provide confidence that the changed parts are
correct and that the unchanged parts have not been adversely affected
by the modifications. Regression test selection techniques reduce the
cost of regression testing, by selecting a subset of an existing test
suite to use in retesting modified programs. This paper presents the
first general regression-test-selection technique, which based on code
and allows selecting test cases for any programs written in any
programming language. Then it handles incomplete program. We
also describe RTSDiff, a regression-test-selection system that
implements the proposed technique. The results of the empirical
studied that performed in four programming languages java, C#, Cµ
and Visual basic show that the efficiency and effective in reducing
the size of test suit.
Abstract: The introduction of mass-customization has enabled
new ways to treat patients within medicine. However, the
introduction of industrialized treatments has also meant new
obstacles. The purpose of this study was to introduce and
theoretically test a method for improving dental crown fit. The
optimization method allocates support points in order to check the
final variation for dental crowns. Three different types of geometries
were tested and compared. The three geometries were also divided
into three sub-geometries: Current method, Optimized method and
Feasible method. The Optimized method, using the whole surface for
support points, provided the best results. The results support the
objective of the study. It also seems that the support optimization
method can dramatically improve the robustness of dental crown
treatments.
Abstract: In this paper optimal capacitor placement problem has
been formulated in a restructured distribution network. In this
scenario the distribution network operator can consider reactive
energy also as a service that can be sold to transmission system. Thus
search for optimal location, size and number of capacitor banks with
the objective of loss reduction, maximum income from selling
reactive energy to transmission system and return on investment for
capacitors, has been performed. Results is influenced with economic
value of reactive energy, therefore problem has been solved for
various amounts of it. The implemented optimization technique is
genetic algorithm. For any value of reactive power economic value,
when reverse of investment index increase and change from zero or
negative values to positive values, the threshold value of selling
reactive power has been obtained. This increasing price of economic
parameter is reasonable until the network losses is less than loss
before compensation.
Abstract: Supplier appraisal fosters energy in Supply Chain
Management and helps in best optimization of viable business
partners for a company. Many Decision Making techniques have
already been proposed by researchers for supplier-s appraisal.
However, Analytic Hierarchy Process (AHP) is assumed to be the
most structured technique to attain near-best solution of the problem.
This paper focuses at implementation of AHP in the procurement
processes. It also suggests that on what factors a Public Sector
Enterprises must focus while dealing with their suppliers and what
should the suppliers do to synchronize their activities with the
strategic objectives of Organization. It also highlights the weak areas
in supplier appraisal process with a view to suggest viable
recommendations.
Abstract: One of the most growing areas in the embedded community is multimedia devices. Multimedia devices incorporate a number of complicated functions for their operation, like motion estimation. A multitude of different implementations have been proposed to reduce motion estimation complexity, such as spiral search. We have studied the implementations of spiral search and identified areas of improvement. We propose a modified spiral search algorithm, with lower computational complexity compared to the original spiral search. We have implemented our algorithm on an embedded ARM based architecture, with custom memory hierarchy. The resulting system yields energy consumption reduction up to 64% and performance increase up to 77%, with a small penalty of 2.3 dB, in average, of video quality compared with the original spiral search algorithm.
Abstract: The cellular network is one of the emerging areas of
communication, in which the mobile nodes act as member for one
base station. The cluster based communication is now an emerging
area of wireless cellular multimedia networks. The cluster renders
fast communication and also a convenient way to work with
connectivity. In our scheme we have proposed an optimization
technique for the fuzzy cluster nodes, by categorizing the group
members into three categories like long refreshable member, medium
refreshable member and short refreshable member. By considering
long refreshable nodes as static nodes, we compute the new
membership values for the other nodes in the cluster. We compare
their previous and present membership value with the threshold value
to categorize them into three different members. By which, we
optimize the nodes in the fuzzy clusters. The simulation results show
that there is reduction in the cluster computational time and
iterational time after optimization.
Abstract: This paper describes a novel method for automatic
estimation of the contours of weld defect in radiography images.
Generally, the contour detection is the first operation which we apply
in the visual recognition system. Our approach can be described as a
region based maximum likelihood formulation of parametric
deformable contours. This formulation provides robustness against
the poor image quality, and allows simultaneous estimation of the
contour parameters together with other parameters of the model.
Implementation is performed by a deterministic iterative algorithm
with minimal user intervention. Results testify for the very good
performance of the approach especially in synthetic weld defect
images.
Abstract: Medical services are usually provided in hospitals; however, in developing country, some rural residences have fewer opportunities to access in healthcare services due to the limitation of transportation communication. Therefore, in Thailand, there are charitable organizations operating to provide medical treatments to these people by shifting the medical services to operation sites; this is commonly known as mobile medical service. Operation routing is important for the organization to reduce its transportation cost in order to focus more on other important activities; for instance, the development of medical apparatus. VRP is applied to solve the problem of high transportation cost of the studied organization with the searching techniques of saving algorithm to find the minimum total distance of operation route and satisfy available time constraints of voluntary medical staffs.
Abstract: Liquid-liquid extraction is a process using two immiscible
liquids to extract compounds from one phase without high
temperature requirement. Mostly, the technical implementation of
this process is carried out in mixer-settlers or extraction columns. In
real chemical processes, chemicals may have high viscosity and
contain impurities. These impurities may change the settling behavior
of the process without measurably changing the physical properties
of the phases. In the current study, the settling behavior and the affected
parameters in a high-viscosity system were observed. Batchsettling
experiments were performed to experimentally quantify the
settling behavior and the mixer-settler model of Henschke [1] was
used to evaluate the behavior of the toluene + water system. The
viscosity of the system was increased by adding polyethylene glycol
4000 to the aqueous phase. NaCl and Na2SO4 were used to study the
influence of electrolytes. The results from this study show that increasing
the viscosity of water has a higher influence on the settling
behavior in comparison to the effects of the electrolytes. It can be
seen from the experiments that at high salt concentrations, there was
no effect on the settling behavior.
Abstract: This research studied the hypoglycemic effect of
water soluble polysaccharide (WSP) extracted from yam (Dioscorea
hispida) tuber by three different methods: aqueous extraction, papain
assisted extraction, and tempeh inoculums assisted extraction. The
two later extraction methods were aimed to remove WSP binding
protein to have more pure WSP. The hypoglycemic activities were
evaluated by means in vivo test on alloxan induced hyperglycemic
rats, glucose response test (GRT), in situ glucose absorption test
using everted sac, and short chain fatty acids (SCFAs) analysis. All
yam WSP extracts exhibited ability to decrease blood glucose level in
hyperglycemia condition as well as inhibited glucose absorption and
SCFA formation. The order of hypoglycemic activity was tempeh
inoculums assisted- >papain assisted- >aqueous WSP extracts. GRT
and in situ glucose absorption test showed that order of inhibition
was papain assisted- >tempeh inoculums assisted- >aqueous WSP
extracts. Digesta of caecum of yam WSP extracts oral fed rats had
more SCFA than control. Tempeh inoculums assisted WSP extract
exhibited the most significant hypoglycemic activity.
Abstract: The improvement of irrigation systems in the Nile
Delta is one of the most important attempts in Egypt to implement
more effective irrigation technology by improving the existing
irrigation networks. Demand delivery system in the existing irrigation
network is using of mechanical gates structures to automatically
divert water from one portion of an agricultural field to another in the
desired amount and sequence. This paper discusses evaluating main
irrigation networks system under the government managed before
and after improvement systems in the Nile Delta. The overall results
indicate that policy of using the demand delivery concept through
irrigation networks is successful by improving water delivery
performance among them than the rotation delivery concept that used
before. It is provided fair share of water delivery among irrigation
districts and available water in the end of irrigation network,
although this system located in an end of irrigation networks in the
Nile Delta.
Abstract: Four phenylurea herbicides (isoproturon, chlortoluron, diuron and linuron) were dissolved in different water matrices in order to study their chemical degradation by using UV radiation, ozone and some advanced oxidation processes (UV/H2O2, O3/H2O2, Fenton reagent and the photo- Fenton system). The waters used were: ultra-pure water, a commercial mineral water, a groundwater and a surface water taken from a reservoir. Elimination levels were established for each herbicide and for several global quality parameters, and a kinetic study was performed in order to determine basic kinetic parameters of each reaction between the target phenylureas and these oxidizing systems.
Abstract: Nowadays there are many methods for representing
knowledge such as semantic network, neural network, and conceptual
graphs. Nonetheless, these methods are not sufficiently efficient
when applied to perform and deduce on knowledge domains about
supporting in general education such as algebra, analysis or plane
geometry. This leads to the introduction of computational network
which is a useful tool for representation knowledge base, especially
for computational knowledge, especially knowledge domain about
general education. However, when dealing with a practical problem,
we often do not immediately find a new solution, but we search
related problems which have been solved before and then proposing
an appropriate solution for the problem. Besides that, when finding
related problems, we have to determine whether the result of them
can be used to solve the practical problem or not. In this paper, the
extension model of computational network has been presented. In this
model, Sample Problems, which are related problems, will be used
like the experience of human about practical problem, simulate the
way of human thinking, and give the good solution for the practical
problem faster and more effectively. This extension model is applied
to construct an automatic system for solving algebraic problems in
middle school.
Abstract: The compatibility of optical resonators with microfluidic systems may be relevant for chemical and biological applications. Here, a fluorescent-core microcavity (FCM) is investigated as a refractometric sensor for heavy oils. A high-index film of silicon quantum dots (QDs) was formed inside the capillary, supporting cylindrical fluorescence whispering gallery modes (WGMs). A set of standard refractive index oils was injected into a capillary, causing a shift of the WGM resonances toward longer wavelengths. A maximum sensitivity of 240 nm/RIU (refractive index unit) was found for a nominal oil index of 1.74. As well, a sensitivity of 22 nm/RIU was obtained for a lower index of 1.48, more typical of fuel hydrocarbons. Furthermore, the observed spectra and sensitivities were compared to theoretical predictions and reproduced via FDTD simulations, showing in general an excellent agreement. This work demonstrates the potential use of FCMs for oil sensing applications and the more generally for detecting liquid solutions with a high refractive index or high viscosity.
Abstract: Heat pipes are two-phase heat transfer devices with
high effective thermal conductivity. Due to the high heat transport
capacity, heat exchanger with heat pipes has become much smaller
than traditional heat exchangers in handling high heat fluxes. With
the working fluid in a heat pipe, heat can be absorbed on the
evaporator region and transported to the condenser region where the
vapour condenses releasing the heat to the cooling media. Heat pipe
technology has found increasing applications in enhancing the
thermal performance of heat exchangers in microelectranics, energy
saving in HVAC systems for operating rooms,surgery centers, hotels,
cleanrooms etc, temperature regulation systems for the human body
and other industrial sectors. Development activity in heat pipe and
thermosyphon technology in asia in recent years is surveyed. Some
new results obtained in Australia and other countries are also
included.
Abstract: The aim of the present study was to investigate the
chemical and biological properties of local cowpea seed protein
cultivated in Gizan region. The results showed that the cowpea and
its products contain high level of protein (22.9-77.6%), high
carbohydrates (9.4-64.3%) and low fats (0.1-0.3%). The trypsin and
chymotrypsin activities were found to be 32.2 and 15.2 units,
respectively. These activities were not affected in both defatted and
protein concentrate whereas they were significantly reduced in
isolated protein and cooked samples. The phytate content of cooked
and concentrated cowpea samples varied from 0.25% -0.32%,
respectively. Tannin content was found to be 0.4% and 0.23% for
cooked and raw samples, respectively. The in vitro protein
digestibility was very high in cowpea seeds (75.04-78.76%). The
biological evaluation using rats showed that the group fed with
animal feed containing casein gain more weight than those fed with
that containing cowpea. However, the group fed with cooked cowpea
gain more weight than those fed with uncooked cowpea. On the
other hand, in vivo digestion showed high value (98.33%) among the
group consumed casein compared to other groups those consumed
cowpea contains feed. This could be attributed to low antinutritional
factors in casein contains feed compared to those of cowpea contains
feed because cooking significantly increased the digestion rate
(80.8% to 83.5%) of cowpea contains feed. Furthermore, the
biological evaluation was high (91.67%) of casein containing feed
compared to that of cowpea containing feed (80.83%-87.5%). The
net protein utilization (NPU) was higher (89.67%) in the group fed
with casein containing feed than that of cowpea containing feed
(56.33%-69.67%).