Abstract: High redundancy and strong uncertainty are two main characteristics for underwater robotic manipulators with unlimited workspace and mobility, but they also make the motion planning and control difficult and complex. In order to setup the groundwork for the research on control schemes, the mathematical representation is built by using the Denavit-Hartenberg (D-H) method [9]&[12]; in addition to the geometry of the manipulator which was studied for establishing the direct and inverse kinematics. Then, the dynamic model is developed and used by employing the Lagrange theorem. Furthermore, derivation and computer simulation is accomplished using the MATLAB environment. The result obtained is compared with mechanical system dynamics analysis software, ADAMS. In addition, the creation of intelligent artificial skin using Interlink Force Sensing ResistorTM technology is presented as groundwork for future work
Abstract: In this note, a theoretical model for analyzing of
normal penetration of the ogive – nose projectile into metallic targets
is presented .The failure is assumed to be asymmetry petalling and
the analysis is performed by using the energy balance and work done
.The work done consist of the work required for plastic deformation
Wp, the work for transferring the matter to new position Wd and the
work for bending of the petals Wb. In several studies, it has been
shown that we can neglect the loss of energy by temperature.
In this present study, in first, by assuming the crater formation
after perforation, the value of work done is calculated during the
normal penetration of conical projectiles into thin metallic targets.
Then the value of residual velocity and ballistic limit of the projectile
is predicated by using the energy balance. In final, theoretical and
experimental results is compared.
Abstract: Sensor Network are emerging as a new tool for
important application in diverse fields like military surveillance,
habitat monitoring, weather, home electrical appliances and others.
Technically, sensor network nodes are limited in respect to energy
supply, computational capacity and communication bandwidth. In
order to prolong the lifetime of the sensor nodes, designing efficient
routing protocol is very critical. In this paper, we illustrate the
existing routing protocol for wireless sensor network using data
centric approach and present performance analysis of these protocols.
The paper focuses in the performance analysis of specific protocol
namely Directed Diffusion and SPIN. This analysis reveals that the
energy usage is important features which need to be taken into
consideration while designing routing protocol for wireless sensor
network.
Abstract: This paper describes WiPoD (Wireless Position
Detector) which is a pure software based location determination and
tracking (positioning) system. It uses empirical signal strength measurements from different wireless access points for mobile user
positioning. It is designed to determine the location of users having
802.11 enabled mobile devices in an 802.11 WLAN infrastructure
and track them in real time. WiPoD is the first main module in our
LBS (Location Based Services) framework. We tested K-Nearest
Neighbor and Triangulation algorithms to estimate the position of a
mobile user. We also give the analysis results of these algorithms for
real time operations. In this paper, we propose a supportable, i.e.
understandable, maintainable, scalable and portable wireless
positioning system architecture for an LBS framework. The WiPoD
software has a multithreaded structure and was designed and implemented with paying attention to supportability features and real-time constraints and using object oriented design principles. We also describe the real-time software design issues of a wireless positioning system which will be part of an LBS framework.
Abstract: Complex assemblies of interacting proteins carry out
most of the interesting jobs in a cell, such as metabolism, DNA
synthesis, mitosis and cell division. These physiological properties
play out as a subtle molecular dance, choreographed by underlying
regulatory networks that control the activities of cyclin-dependent
kinases (CDK). The network can be modeled by a set of nonlinear
differential equations and its behavior predicted by numerical
simulation. In this paper, an innovative approach has been proposed
that uses genetic algorithms to mine a set of behavior data output by
a biological system in order to determine the kinetic parameters of
the system. In our approach, the machine learning method is
integrated with the framework of existent biological information in a
wiring diagram so that its findings are expressed in a form of system
dynamic behavior. By numerical simulations it has been illustrated
that the model is consistent with experiments and successfully shown
that such application of genetic algorithms will highly improve the
performance of mathematical model of the cell division cycle to
simulate such a complicated bio-system.
Abstract: The issue of real-time and reliable report delivery is extremely important for taking effective decision in a real world mission critical Wireless Sensor Network (WSN) based application. The sensor data behaves differently in many ways from the data in traditional databases. WSNs need a mechanism to register, process queries, and disseminate data. In this paper we propose an architectural framework for data placement and management. We propose a reliable and real time approach for data placement and achieving data integrity using self organized sensor clusters. Instead of storing information in individual cluster heads as suggested in some protocols, in our architecture we suggest storing of information of all clusters within a cell in the corresponding base station. For data dissemination and action in the wireless sensor network we propose to use Action and Relay Stations (ARS). To reduce average energy dissipation of sensor nodes, the data is sent to the nearest ARS rather than base station. We have designed our architecture in such a way so as to achieve greater energy savings, enhanced availability and reliability.
Abstract: In this study rack systems that are structural storage
units of warehouses have been analyzed as structural with Finite
Element Method (FEA). Each cell of discussed rack system storages
pallets which have from 800 kg to 1000 kg weights and
0.80x1.15x1.50 m dimensions. Under this load, total deformations
and equivalent stresses of structural elements and principal stresses,
tensile stresses and shear stresses of connection elements have been
analyzed. The results of analyses have been evaluated according to
resistance limits of structural and connection elements. Obtained
results have been presented as visual and magnitude.
Abstract: In vitro gastro-duodenal digestion model was used to investigate the changes of emulsions under digestion conditions. Oil in water emulsions stabilized by whey proteins (2%) and stabilized by whey proteins (2%) with addition of carboxymethyl cellulose (0.75%) as gelling agent of continuous phase were prepared at pH7. Both emulsions were destabilized under gastric conditions; however the protective role of carboxymethyl cellulose was indicated by recording delay of fat digestibility of this emulsion. In the presence of carboxymethyl cellulose whey proteins on the interfacial surface of droplets were more resistant to gastric degradation causing limited hydrolysis of fat due to the poor acceptability of lipids for the enzymes. Studies of emulsions using in vivo model supported results from in vitro studies. Lower content of triglycerides in blood serum and higher amount of fecal fat of rats were determined when rats were fed by diet containing emulsion made with whey proteins and carboxymethyl cellulose.
Abstract: Real world Speaker Identification (SI) application
differs from ideal or laboratory conditions causing perturbations that
leads to a mismatch between the training and testing environment
and degrade the performance drastically. Many strategies have been
adopted to cope with acoustical degradation; wavelet based Bayesian
marginal model is one of them. But Bayesian marginal models
cannot model the inter-scale statistical dependencies of different
wavelet scales. Simple nonlinear estimators for wavelet based
denoising assume that the wavelet coefficients in different scales are
independent in nature. However wavelet coefficients have significant
inter-scale dependency. This paper enhances this inter-scale
dependency property by a Circularly Symmetric Probability Density
Function (CS-PDF) related to the family of Spherically Invariant
Random Processes (SIRPs) in Log Gabor Wavelet (LGW) domain
and corresponding joint shrinkage estimator is derived by Maximum
a Posteriori (MAP) estimator. A framework is proposed based on
these to denoise speech signal for automatic speaker identification
problems. The robustness of the proposed framework is tested for
Text Independent Speaker Identification application on 100 speakers
of POLYCOST and 100 speakers of YOHO speech database in three
different noise environments. Experimental results show that the
proposed estimator yields a higher improvement in identification
accuracy compared to other estimators on popular Gaussian Mixture
Model (GMM) based speaker model and Mel-Frequency Cepstral
Coefficient (MFCC) features.
Abstract: The main emphasis of metallurgists has been to process the materials to obtain the balanced mechanical properties for the given application. One of the processing routes to alter the properties is heat treatment. Nearly 90% of the structural applications are related to the medium carbon an alloyed steels and hence are regarded as structural steels. The major requirement in the conventional steel is to improve workability, toughness, hardness and grain refinement. In this view, it is proposed to study the mechanical and tribological properties of unalloyed structural (AISI 1140) steel with different thermal (heat) treatments like annealing, normalizing, tempering and hardening and compared with as brought (cold worked) specimen. All heat treatments are carried out in atmospheric condition. Hardening treatment improves hardness of the material, a marginal decrease in hardness value with improved ductility is observed in tempering. Annealing and normalizing improve ductility of the specimen. Normalized specimen shows ultimate ductility. Hardened specimen shows highest wear resistance in the initial period of slide wear where as above 25KM of sliding distance, as brought steel dominates the hardened specimen. Both mild and severe wear regions are observed. Microstructural analysis shows the existence of pearlitic structure in normalized specimen, lath martensitic structure in hardened, pearlitic, ferritic structure in annealed specimen.
Abstract: In this paper, the energy performance of a selected
UHDE Ammonia plant is optimized by conducting heat integration through waste heat recovery and the synthesis of a heat exchange
network (HEN). Minimum hot and cold utility requirements were estimated through IChemE spreadsheet. Supporting simulation was
carried out using HYSYS software. The results showed that there is
no need for heating utility while the required cold utility was found to
be around 268,714 kW. Hence a threshold pinch case was faced. Then, the hot and cold streams were matched appropriately. Also,
waste heat recovered resulted with savings in HP and LP steams of
approximately 51.0% and 99.6%, respectively. An economic analysis
on proposed HEN showed very attractive overall payback period not
exceeding 3 years. In general, a net saving approaching 35% was
achieved in implementing heat optimization of current studied UHDE Ammonia process.
Abstract: This study was carried out to develop a flotation
procedure for an oxide copper ore from a Region in Central Africa
for producing an 18% copper concentrate for downstream processing
at maximum recovery from a 4% copper feed grade. The copper
recoveries achieved from the test work were less than 50% despite
changes in reagent conditions (multistage sulphidisation, use of RCA
emulsion and mixture, use of AM 2, etc). The poor recoveries were
attributed to the mineralogy of the ore from which copper silicates
accounted for approximately 70% (mass) of the copper minerals in
the ore. These can be complex and difficult to float using
conventional flotation methods. Best results were obtained using
basic sulphidisation procedures, a high flotation temperature and
extended flotation residence time.
Abstract: In this paper, fabrication and study of electronic properties of Au/methyl-red/Ag surface type Schottky diode by current-voltage (I-V) method has been reported. The I-V characteristics of the Schottky diode showed the good rectifying behavior. The values of ideality factor n and barrier height b of Au/methyl-red/Ag Schottky diode were calculated from the semi-log I-V characteristics and by using the Cheung functions. From semi-log current-voltage characteristics the values of n and b were found 1.93 and 0.254 eV, respectively, while by using Cheung functions their values were calculated 1.89 and 0.26 eV, respectively. The effect of series resistance was also analyzed by Cheung functions. The series resistance RS values were determined from dV/d(lnI)–I and H(I)–I graphs and were found to be 1.1 k and 1.3 k, respectively.
Abstract: Promoting critical thinking (CT) in an educational
setting has been appraised in order to enhance learning and
intellectual skills. In this study, a pedagogical course in a vocational
teacher education program in Turkey was designed by integrating CT
skill-based strategies/activities into the course content and CT skills
were means leading to intended course objectives. The purpose of the
study was to evaluate the importance of the course objectives, the
attainment of the objectives, and the effectiveness of teachinglearning
strategies/activities from prospective teachers- points of
view. The results revealed that although the students mostly
considered the course objectives important, they did not feel
competent in the attainment of all objectives especially in those
related to the main topic of Learning and those requiring higher order
thinking skills. On the other hand, the students considered the course
activities effective for learning and for the development of thinking
skills, especially, in interpreting, comparing, questioning,
contrasting, and forming relationships.
Abstract: Solar energy is not only sustainable but also a clean
alternative to be used as source of high temperature heat for many
processes and power generation. However, the major drawback of
solar energy is its transient nature. Especially in solar
thermochemical processing, it is crucial to maintain constant or semiconstant
temperatures inside the solar reactor. In our laboratory, we
have developed a mechanism allowing us to achieve semi-constant
temperature inside the solar reactor. In this paper, we introduce the
concept along with some updated designs and provide the optical
analysis of the concept under various incoming flux.
Abstract: In this paper, the techniques for estimating the
residual stress in high velocity oxy fuel thermal spray coatings have
been discussed and compared. The development trend and the last
investigation have been studied. It is seemed that the there is not
effective study on the effect of the peening action in HVOF
analytically and numerically.
Abstract: Optimal design of structure has a main role in reduction of material usage which leads to deduction in the final cost of construction projects. Evolutionary approaches are found to be more successful techniques for solving size and shape structural optimization problem since it uses a stochastic random search instead of a gradient search. By reviewing the recent literature works the problem found was the optimization of weight. A new meta-heuristic algorithm called as Cuckoo Search (CS) Algorithm has used for the optimization of the total weight of the truss structures. This paper has used set of 10 bars and 25 bars trusses for the testing purpose. The main objective of this work is to reduce the number of iterations, weight and the total time consumption. In order to demonstrate the effectiveness of the present method, minimum weight design of truss structures is performed and the results of the CS are compared with other algorithms.
Abstract: A key aspect of the design of any software system is
its architecture. An architecture description provides a formal model
of the architecture in terms of components and connectors and how
they are composed together. COSA (Component-Object based
Software Structures), is based on object-oriented modeling and
component-based modeling. The model improves the reusability by
increasing extensibility, evolvability, and compositionality of the
software systems. This paper presents the COSA modelling tool
which help architects the possibility to verify the structural coherence
of a given system and to validate its semantics with COSA approach.
Abstract: The effects of commercial or bovine yeasts on the
performance and blood variables of broiler chickens intoxicated with
aflatoxin were investigated in broilers. Four hundred eighty broilers
(Arbor Acres; 3-wk-old) were randomly assigned to 4 groups. Each
group (120 broiler chickens) was further randomly divided into 6
replicates of 20 chickens. The treatments were control diet without
additives (treatment 1), 250 ppb AFB1 (treatment 2), commercial
yeast, Saccharomyces cerevisiae, (CY 2.5 x 107 CFU/g) + 250 ppb
AFB1 (treatment 3) and bovine yeast, Saccharomyces cerevisiae,
(BY 2.5 x 107 CFU/g + 250 ppb AFB1 (treatment 4). Complete
randomized design (CRD) was used in the experiment. Feed
consumption and body weight were recorded at every five-day
period. On day 42, carcass compositions were determined from 30
birds per treatment. While chicks were sacrificed, 3-4 ml blood
sample was taken and stored frozen at (-20°C) for serum chemical
analysis to determine effects of consumption of diets on blood
chemistry (total protein, albumin, glucose, urea, cholesterol and
triglycerides). There were no significant differences in ADFI among
the treatments(P>0.05). However, BWG, FCR and mortality were
highly significantly different (P
Abstract: Human Resource (HR) applications can be used to
provide fair and consistent decisions, and to improve the
effectiveness of decision making processes. Besides that, among
the challenge for HR professionals is to manage organization
talents, especially to ensure the right person for the right job at the
right time. For that reason, in this article, we attempt to describe
the potential to implement one of the talent management tasks i.e.
identifying existing talent by predicting their performance as one of
HR application for talent management. This study suggests the
potential HR system architecture for talent forecasting by using
past experience knowledge known as Knowledge Discovery in
Database (KDD) or Data Mining. This article consists of three
main parts; the first part deals with the overview of HR
applications, the prediction techniques and application, the general
view of Data mining and the basic concept of talent management
in HRM. The second part is to understand the use of Data Mining
technique in order to solve one of the talent management tasks, and
the third part is to propose the potential HR system architecture for
talent forecasting.