Abstract: This paper focuses on the development of bond graph
dynamic model of the mechanical dynamics of an excavating mechanism
previously designed to be used with small tractors, which are
fabricated in the Engineering Workshops of Jomo Kenyatta University
of Agriculture and Technology. To develop a mechanical dynamics
model of the manipulator, forward recursive equations similar to
those applied in iterative Newton-Euler method were used to obtain
kinematic relationships between the time rates of joint variables
and the generalized cartesian velocities for the centroids of the
links. Representing the obtained kinematic relationships in bondgraphic
form, while considering the link weights and momenta as
the elements led to a detailed bond graph model of the manipulator.
The bond graph method was found to reduce significantly the number
of recursive computations performed on a 3 DOF manipulator for a
mechanical dynamic model to result, hence indicating that bond graph
method is more computationally efficient than the Newton-Euler
method in developing dynamic models of 3 DOF planar manipulators.
The model was verified by comparing the joint torque expressions
of a two link planar manipulator to those obtained using Newton-
Euler and Lagrangian methods as analyzed in robotic textbooks. The
expressions were found to agree indicating that the model captures
the aspects of rigid body dynamics of the manipulator. Based on
the model developed, actuator sizing and valve sizing methodologies
were developed and used to obtain the optimal sizes of the pistons
and spool valve ports respectively. It was found that using the pump
with the sized flow rate capacity, the engine of the tractor is able to
power the excavating mechanism in digging a sandy-loom soil.
Abstract: 98% of the energy needed in Taiwan has been
imported. The prices of petroleum and electricity have been
increasing. In addition, facility capacity, amount of electricity
generation, amount of electricity consumption and number of Taiwan
Power Company customers have continued to increase. For these
reasons energy conservation has become an important topic. In the
past linear regression was used to establish the power consumption
models for chillers. In this study, grey prediction is used to evaluate
the power consumption of a chiller so as to lower the total power
consumption at peak-load (so that the relevant power providers do not
need to keep on increasing their power generation capacity and facility
capacity).
In grey prediction, only several numerical values (at least four
numerical values) are needed to establish the power consumption
models for chillers. If PLR, the temperatures of supply chilled-water
and return chilled-water, and the temperatures of supply cooling-water
and return cooling-water are taken into consideration, quite accurate
results (with the accuracy close to 99% for short-term predictions)
may be obtained. Through such methods, we can predict whether the
power consumption at peak-load will exceed the contract power
capacity signed by the corresponding entity and Taiwan Power
Company. If the power consumption at peak-load exceeds the power
demand, the temperature of the supply chilled-water may be adjusted
so as to reduce the PLR and hence lower the power consumption.
Abstract: This paper discusses the utilization of marine biomass as an energy resource in Japan. A marine biomass energy system in Japan was proposed consisting of seaweed cultivation (Laminaria japonica) at offshore marine farms, biogas production via methane fermentation of the seaweeds, and fuel cell power generation driven by the generated biogas. We estimated energy output, energy supply potential, and CO2 mitigation in Japan on the basis of the proposed system. As a result, annual energy production was estimated to be 1.02-109 kWh/yr at nine available sites. Total CO2 mitigation was estimated to be 1.04-106 tonnes per annum at the nine sites. However, the CO2 emission for the construction of relevant facilities is not taken into account in this paper. The estimated CO2 mitigation is equivalent to about 0.9% of the required CO2 mitigation for Japan per annum under the Kyoto Protocol framework.
Abstract: In recent methodological articles related to structural equation modeling (SEM), the question of how to measure endogenous formative variables has been raised as an urgent, unresolved issue. This research presents an empirical application from the CRM system development context to test a recently developed technique, which makes it possible to measure endogenous formative constructs in structural models. PLS path modeling is used to demonstrate the feasibility of measuring antecedent relationships at the formative indicator level, not the formative construct level. Empirical results show that this technique is a promising approach to measure antecedent relationships of formative constructs in SEM.
Abstract: In this paper, center conditions and bifurcation of limit cycles at the nilpotent critical point in a class of quintic polynomial differential system are investigated.With the help of computer algebra system MATHEMATICA, the first 10 quasi Lyapunov constants are deduced. As a result, sufficient and necessary conditions in order to have a center are obtained. The fact that there exist 10 small amplitude limit cycles created from the three order nilpotent critical point is also proved. Henceforth we give a lower bound of cyclicity of three-order nilpotent critical point for quintic Lyapunov systems. At last, we give an system which could bifurcate 10 limit circles.
Abstract: According to the Auckland climate, building passive
design more focus on improving winter indoor thermal and health
conditions. Based on field study data of indoor air temperature and
relative humidity close to ceiling and floor of an insulated Auckland
townhouse with and without a whole home mechanical ventilation
system, this study is to analysis variation of indoor microclimate data
of an Auckland townhouse using or not using the mechanical
ventilation system to evaluate winter indoor thermal and health
conditions for the future house design with a mechanical ventilation
system.
Abstract: Tasks of an application program of an embedded system are managed by the scheduler of a real-time operating system
(RTOS). Most RTOSs adopt just fixed priority scheduling, which is not optimal in all cases. Some applications require earliest deadline
first (EDF) scheduling, which is an optimal scheduling algorithm.
In order to develop an efficient real-time embedded system, the
scheduling algorithm of the RTOS should be selectable. The paper presents a method to customize the scheduler using aspectoriented
programming. We define aspects to replace the fixed priority scheduling mechanism of an OSEK OS with an EDF scheduling
mechanism. By using the aspects, we can customize the scheduler
without modifying the original source code. We have applied the
aspects to an OSEK OS and get a customized operating system with
EDF scheduling. The evaluation results show that the overhead of
aspect-oriented programming is small enough.
Abstract: RFID tag is a small and inexpensive microchip which is
capable of transmitting unique identifier through wireless network in a
short distance. If a group of RFID tags can be scanned simultaneously
by one reader, RFID Group proof could be generated. Group proof can
be used in various applications, such as good management which is
usually achieved using barcode system. A lot of RFID group proof
schemes have been proposed by many researchers. In this paper, we
introduce some existing group proof schemes and then analyze their
vulnerabilities to the privacy. Moreover, we propose a new attack
model, which threats the privacy of user by tracking tags in a group.
Abstract: This paper will first describe predictor controllers
when the proportional-integral-derivative (PID) controllers are
inactive for procedures that have large delay time (LDT) in transfer
stage. Therefore in those states, the predictor controllers are better
than the PID controllers, then compares three types of predictor
controllers. The value of these controller-s parameters are obtained
by trial and error method, so here an effort has been made to obtain
these parameters by Ziegler-Nichols method. Eventually in this paper
Ziegler-Nichols method has been described and finally, a PIP
controller has been designed for a thermal system, which circulates
hot air to keep the temperature of a chamber constant.
Abstract: This paper is a part of research, in which the way the
biomedical engineers follow in their work is analyzed. The goal of
this paper is to present a method for specification of user
requirements in the medical devices maintenance process. Data
Gathering Methods, Research Model Phases and Descriptive
Analysis is presented. These technology and verification rules can be
implemented in Medical devices maintenance management process to
the maintenance process.
Abstract: We report in this paper the model adopted by our
system of continuous speech recognition in Arab language SySRA
and the results obtained until now. This system uses the database
Arabdic-10 which is a corpus of word for the Arab language and
which was manually segmented. Phonetic decoding is represented
by an expert system where the knowledge base is translated in the
form of production rules. This expert system transforms a vocal
signal into a phonetic lattice. The higher level of the system takes
care of the recognition of the lattice thus obtained by deferring it in
the form of written sentences (orthographical Form). This level
contains initially the lexical analyzer which is not other than the
module of recognition. We subjected this analyzer to a set of
spectrograms obtained by dictating a score of sentences in Arab
language. The rate of recognition of these sentences is about 70%
which is, to our knowledge, the best result for the recognition of the
Arab language. The test set consists of twenty sentences from four
speakers not having taken part in the training.
Abstract: A passive system "Qanat" is collection of some
underground wells. A mother-well was dug in a place far from the
city where they could reach to the water table maybe 100 meters
underground, they dug other wells to direct water toward the city,
with minimum possible gradient. Using the slope of the earth they
could bring water close to the surface in the city. The source of water
or the appearance of Qanat, land slope and the ownership lines are
the important and effective factors in the formation of routes and the
segment division of lands to the extent that making use of Qanat as
the techniques of extracting underground waters creates a channel of
routes with an organic order and hierarchy coinciding the slope of
land and it also guides the Qanat waters in the tradition texture of salt
desert and border provinces of it. Qanats are excavated in a specified
distinction from each other. The quantity of water provided by
Qanats depends on the kind of land, distance from mountain,
geographical situation of them and the rate of water supply from the
underground land. The rate of underground waters, possibility of
Qanat excavation, number of Qanats and rate of their water supply
from one hand and the quantity of cultivable fertile lands from the
other hand are the important natural factors making the size of cities.
In the same manner the cities with several Qanats have multi central
textures. The location of cities is in direct relation with land quality,
soil fertility and possibility of using underground water by excavating
Qanats. Observing the allowable distance for Qanat watering is a
determining factor for distance between villages and cities.
Topography, land slope, soil quality, watering system, ownership,
kind of cultivation, etc. are the effective factors in directing Qanats
for excavation and guiding water toward the cultivable lands and it
also causes the formation of different textures in land division of
farming provinces. Several divisions such as orderly and wide, inorderly,
thin and long, comb like, etc. are the introduction to organic
order. And at the same time they are complete coincidence with
environmental conditions in the typical development of ecological
architecture and planning in the traditional cities and settlements
order.
Abstract: In this research, we study a control method of a multivehicle
system while considering the limitation of communication
range for each vehicles. When we control networked vehicles with
limitation of communication range, it is important to control the
communication network structure of a multi-vehicle system in order
to keep the network-s connectivity. From this, we especially aim to
control the network structure to the target structure. We formulate
the networked multi-vehicle system with some disturbance and the
communication constraints as a hybrid dynamical system, and then
we study the optimal control problems of the system. It is shown
that the system converge to the objective network structure in finite
time when the system is controlled by the receding horizon method.
Additionally, the optimal control probrems are convertible into the
mixed integer problems and these problems are solvable by some
branch and bound algorithm.
Abstract: Recent developments in Soft computing techniques,
power electronic switches and low-cost computational hardware have
made it possible to design and implement sophisticated control
strategies for sensorless speed control of AC motor drives. Such an
attempt has been made in this work, for Sensorless Speed Control of
Induction Motor (IM) by means of Direct Torque Fuzzy Control
(DTFC), PI-type fuzzy speed regulator and MRAS speed estimator
strategy, which is absolutely nonlinear in its nature. Direct torque
control is known to produce quick and robust response in AC drive
system. However, during steady state, torque, flux and current ripple
occurs. So, the performance of conventional DTC with PI speed
regulator can be improved by implementing fuzzy logic techniques.
Certain important issues in design including the space vector
modulated (SVM) 3-Ф voltage source inverter, DTFC design,
generation of reference torque using PI-type fuzzy speed regulator
and sensor less speed estimator have been resolved. The proposed
scheme is validated through extensive numerical simulations on
MATLAB. The simulated results indicate the sensor less speed
control of IM with DTFC and PI-type fuzzy speed regulator provides
satisfactory high dynamic and static performance compare to
conventional DTC with PI speed regulator.
Abstract: The present paper represent the efforts undertaken for
the development of an semi-automatic robot that may be used for
various post-disaster rescue operation planning and their subsequent
execution using one-way communication of video and data from the
robot to the controller and controller to the robot respectively.
Wireless communication has been used for the purpose so that the
robot may access the unapproachable places easily without any
difficulties. It is expected that the information obtained from the
robot would be of definite help to the rescue team for better planning
and execution of their operations.
Abstract: Using Dynamic Bayesian Networks (DBN) to model genetic regulatory networks from gene expression data is one of the major paradigms for inferring the interactions among genes. Averaging a collection of models for predicting network is desired, rather than relying on a single high scoring model. In this paper, two kinds of model searching approaches are compared, which are Greedy hill-climbing Search with Restarts (GSR) and Markov Chain Monte Carlo (MCMC) methods. The GSR is preferred in many papers, but there is no such comparison study about which one is better for DBN models. Different types of experiments have been carried out to try to give a benchmark test to these approaches. Our experimental results demonstrated that on average the MCMC methods outperform the GSR in accuracy of predicted network, and having the comparable performance in time efficiency. By proposing the different variations of MCMC and employing simulated annealing strategy, the MCMC methods become more efficient and stable. Apart from comparisons between these approaches, another objective of this study is to investigate the feasibility of using DBN modeling approaches for inferring gene networks from few snapshots of high dimensional gene profiles. Through synthetic data experiments as well as systematic data experiments, the experimental results revealed how the performances of these approaches can be influenced as the target gene network varies in the network size, data size, as well as system complexity.
Abstract: In rail vehicles, air springs are very important isolating component, which guarantee good ride comfort for passengers during their trip. In the most new rail–vehicle models, developed by researchers, the thermo–dynamical effects of air springs are ignored and secondary suspension is modeled by simple springs and dampers. As the performance of suspension components have significant effects on rail–vehicle dynamics and ride comfort of passengers, a complete nonlinear thermo–dynamical air spring model, which is a combination of two different models, is introduced. Result from field test shows remarkable agreement between proposed model and experimental data. Effects of air suspension parameters on the system performances are investigated here and then these parameters are tuned to minimize Sperling ride comfort index during the trip. Results showed that by modification of air suspension parameters, passengers comfort is improved and ride comfort index is reduced about 10%.
Abstract: The compression-absorption heat pump (C-A HP), one
of the promising heat recovery equipments that make process hot
water using low temperature heat of wastewater, was evaluated by
computer simulation. A simulation program was developed based on
the continuity and the first and second laws of thermodynamics. Both
the absorber and desorber were modeled using UA-LMTD method. In
order to prevent an unfeasible temperature profile and to reduce
calculation errors from the curved temperature profile of a mixture,
heat loads were divided into lots of segments. A single-stage
compressor was considered. A compressor cooling load was also
taken into account. An isentropic efficiency was computed from the
map data. Simulation conditions were given based on the system
consisting of ordinarily designed components. The simulation results
show that most of the total entropy generation occurs during the
compression and cooling process, thus suggesting the possibility that
system performance can be enhanced if a rectifier is introduced.
Abstract: This article presents the developments of efficient
algorithms for tablet copies comparison. Image recognition has
specialized use in digital systems such as medical imaging,
computer vision, defense, communication etc. Comparison between
two images that look indistinguishable is a formidable task. Two
images taken from different sources might look identical but due to
different digitizing properties they are not. Whereas small variation
in image information such as cropping, rotation, and slight
photometric alteration are unsuitable for based matching
techniques. In this paper we introduce different matching
algorithms designed to facilitate, for art centers, identifying real
painting images from fake ones. Different vision algorithms for
local image features are implemented using MATLAB. In this
framework a Table Comparison Computer Tool “TCCT" is
designed to facilitate our research. The TCCT is a Graphical Unit
Interface (GUI) tool used to identify images by its shapes and
objects. Parameter of vision system is fully accessible to user
through this graphical unit interface. And then for matching, it
applies different description technique that can identify exact
figures of objects.
Abstract: The increasing demand for sufficient and clean
energy forces industrial and service companies to align their strategies towards efficient consumption. This trend refers also to the
residential building sector. There, large amounts of energy consumption are caused by house and facility heating. Many of the
operated hot water heating systems lack hydraulic balanced working
conditions for heat distribution and –transmission and lead to
inefficient heating. Through hydraulic balancing of heating systems,
significant energy savings for primary and secondary energy can be
achieved. This paper addresses the use of KNX-technology (Smart
Buildings) in residential buildings to ensure a dynamic adaption of
hydraulic system's performance, in order to increase the heating
system's efficiency. In this paper, the procedure of heating system
segmentation into hydraulically independent units (meshes) is
presented. Within these meshes, the heating valve are addressed and
controlled by a central facility server. Feasibility criteria towards
such drivers will be named. The dynamic hydraulic balance is
achieved by positioning these valves according to heating loads, that
are generated from the temperature settings in the corresponding
rooms. The energetic advantages of single room heating control
procedures, based on the application FacilityManager, is presented.