Abstract: The problem of delay-range-dependent exponential synchronization is investigated for Lur-e master-slave systems with delay feedback control and Markovian switching. Using Lyapunov- Krasovskii functional and nonsingular M-matrix method, novel delayrange- dependent exponential synchronization in mean square criterions are established. The systems discussed in this paper is advanced system, and takes all the features of interval systems, Itˆo equations, Markovian switching, time-varying delay, as well as the environmental noise, into account. Finally, an example is given to show the validity of the main result.
Abstract: Ten percent of the population will develop plantar
fasciitis (PF) during their lifetime. Two million people are treated
yearly accounting for 11-15% of visits to medical professionals.
Treatment ranges from conservative to surgical intervention. The
purpose of this study was to assess the effects of extracorporeal
shockwave therapy (ECSWT) on heel pain, function, range of motion
(ROM), and strength in patients with PF. One hundred subjects were
treated with ECSWT and measures were taken before and three
months after treatment. There was significant differences in visual
analog scale scores for pain at rest (p=0.0001); after activity (p=
0.0001) and; overall improvement (p=0.0001). There was also
significant improvement in Lower Extremity Functional Scale scores
(p=0.0001); ankle plantarflexion (p=0.0001), dorsiflexion (p=0.001),
and eversion (p=0.017),and first metatarsophalangeal joint flexion
(p=0.002) and extension (p=0.003) ROM. ECSWT is an effective
treatment improving heel pain, function and ROM in patients with
PF.
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: 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: This research paper designs a unique motion planner
of multiple platoons of nonholonomic car-like robots as a feasible
solution to the lane changing/merging maneuvers. The decentralized
planner with a leaderless approach and a path-guidance principle
derived from the Lyapunov-based control scheme generates collision
free avoidance and safe merging maneuvers from multiple lanes to a
single lane by deploying a split/merge strategy. The fixed obstacles
are the markings and boundaries of the road lanes, while the moving
obstacles are the robots themselves. Real and virtual road lane
markings and the boundaries of road lanes are incorporated into a
workspace to achieve the desired formation and configuration of the
robots. Convergence of the robots to goal configurations and the
repulsion of the robots from specified obstacles are achieved by
suitable attractive and repulsive potential field functions,
respectively. The results can be viewed as a significant contribution
to the avoidance algorithm of the intelligent vehicle systems (IVS).
Computer simulations highlight the effectiveness of the split/merge
strategy and the acceleration-based controllers.
Abstract: A simple but effective digital watermarking scheme
utilizing a context adaptive variable length coding (CAVLC) method
is presented for wireless communication system. In the proposed
approach, the watermark bits are embedded in the final non-zero
quantized coefficient of each DCT block, thereby yielding a potential
reduction in the length of the coded block. As a result, the
watermarking scheme not only provides the means to check the
authenticity and integrity of the video stream, but also improves the
compression ratio and therefore reduces both the transmission time
and the storage space requirements of the coded video sequence. The
results confirm that the proposed scheme enables the detection of
malicious tampering attacks and reduces the size of the coded H.264
file. Therefore, the current study is feasible to apply in the video
applications of wireless communication such as 3G system
Abstract: This paper explores the opportunity of using tri-axial
wireless accelerometers for supervised monitoring of sports
movements. A motion analysis system for the upper extremities of
lawn bowlers in particular is developed. Accelerometers are placed
on parts of human body such as the chest to represent the shoulder
movements, the back to capture the trunk motion, back of the hand,
the wrist and one above the elbow, to capture arm movements. These
sensors placement are carefully designed in order to avoid restricting
bowler-s movements. Data is acquired from these sensors in soft-real
time using virtual instrumentation; the acquired data is then
conditioned and converted into required parameters for motion
regeneration. A user interface was also created to facilitate in the
acquisition of data, and broadcasting of commands to the wireless
accelerometers. All motion regeneration in this paper deals with the
motion of the human body segment in the X and Y direction, looking
into the motion of the anterior/ posterior and lateral directions
respectively.
Abstract: In this paper after reviewing some previous studies, in
order to optimize the above knee prosthesis, beside the inertial
properties a new controlling parameter is informed. This controlling
parameter makes the prosthesis able to act as a multi behavior system
when the amputee is opposing to different environments. This active
prosthesis with the new controlling parameter can simplify the
control of prosthesis and reduce the rate of energy consumption in
comparison to recently presented similar prosthesis “Agonistantagonist
active knee prosthesis".
In this paper three models are generated, a passive, an active, and
an optimized active prosthesis. Second order Taylor series is the
numerical method in solution of the models equations and the
optimization procedure is genetic algorithm.
Modeling the prosthesis which comprises this new controlling
parameter (SEP) during the swing phase represents acceptable results
in comparison to natural behavior of shank. Reported results in this
paper represent 3.3 degrees as the maximum deviation of models
shank angle from the natural pattern. The natural gait pattern belongs
to walking at the speed of 81 m/min.
Abstract: This study is a descriptive-normative research. It
attempted to investigate the restaurants’ firm performance in terms of
the customers and restaurant personnel’s degree of satisfaction. A
total of 12 restaurants in Bangkok, Thailand that offer Thai cuisine
were included in this study. It involved 24 stockholders/managers,
120 subordinates and 360 customers. General Managers and
restaurants’ stockholders, 10 staffs, and 30 costumers for each
restaurant were chosen for random sampling. This study found that
respondents are slightly satisfied with their work environment but are
generally satisfied with the accessibility to transportation, to malls,
convenience, safety, recreation, noise-free, and attraction; customers
find the Quality of Food in most Thai Cuisines like services, prices of
food, sales promotion, and capital and length of service satisfactory.
Therefore, both stockholder-related and personnel-related factors
which are influenced by restaurant, personnel, and customer-related
factors are partially accepted whereas; customer-related factors which
are influenced by restaurant, personnel and customer-related factors
are rejected.
Abstract: The research is to minimize environmental damage
pertinent to maritime activities about the operation of lighter boat
anchorage and its tugboat. The guidance on upgrading current
harbor service and infrastructure has been provided to Kho Sichang
Municpality. This will involve a study of the maritime logistics of
the water area under jurisdiction of the Sichang island Municipality
and possible recommendations may involve charging taxes,
regulations and fees. With implementing these recommendations will
help in protection of the marine environment and in increasing
operator functionality. Additionally, our recommendation is to
generate a consistent revenue stream to the municipality. The action
items contained in this research are feasible and effective, the success
of these initiatives are heavily dependent upon successful promotion
and enforcement. Promoting new rules and regulations effectively
and peacefully can be done through theories and techniques used in
the psychology of persuasion. In order to assure compliance with the
regulations, the municipality must maintain stringent patrols and
fines for violators. In order to become success, the Municipality
must preserve a consistent, transparent and significant enforcement
system. Considering potential opportunities outside of the current
state of the municipality, the authors recommend that Koh Sichang be
given additional jurisdiction to capture value from the master vessels,
as well as to confront the more significant environmental challenges
these vessels pose. Finally, the authors recommend that the Port of
Koh Sichang Island obtain a free port status in order to increase
economic viability and overall sustainability.
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: Thepurpose of the research is to characterize the levels
of satisfaction of the students in e-learning post-graduate courses,
taking into account specific dimensions of the course which were
considered as benchmarks for the quality of this type of online
learning initiative, as well as the levels of satisfaction towards each
specific indicator identified in each dimension. It was also an aim of
this study to understand how thesedimensions relate to one another.
Using a quantitative research approach in the collection and analysis
of the data, the study involves the participation of the students who
attended on e-learning course in 2010/2011. The conclusions of this
study suggest that online students present relatively high levels of
satisfaction, which points towards a positive experience during the
course. It is possible to note that there is a correlation between the
different dimensions studied, consequently leading to different
improvement strategies. Ultimately, this investigation aims to
contribute to the promotion of quality and the success of e-learning
initiatives in Higher Education.
Abstract: The objective of this research was to study the factors
related to the satisfaction of consumers who purchased a Toyota
SUV Fortuner. This paper was a survey data which collected 400
samples from 65 car dealerships. The survey was conducted mainly
in Bangkok, Thailand. The statistics utilized in this paper included
percentage, mean, standard deviation and Pearson Product-Moment.
The findings revealed that the majority of respondent were male with
an undergraduate degree, married and live together. The average
income of the respondents was between 20,001 - 30,000 baht. Most
of them worked for private companies. Most of them had a family
with the average of 4 members. The hypotheses testing revealed that
the factors of marketing mix in terms of product (ability, gas
mileage, and safety) were related to overall satisfaction at the
medium level. However, the findings also revealed that the factors of
marketing mix in terms of product (image), price, and promotion, and
service center were related to the overall satisfaction at the low level.
Abstract: We attempted investigate a boat model, based on the
conversion of energy of surface wave into a sequence of
unidirectional pulses of jet spurts, in other words - model of the boat,
which is thrusting by the waves field on water surface. These pulses
are forming some average reactive stream from the output nozzle on
the stern of boat. The suggested model provides the conversion of its
oscillatory motions (both pitching and rolling) into a jet flow. This
becomes possible due to special construction of the boat and due to
several details, sensitive to the local wave field. The boat model
presents the uniflow jet engine without slow conversions of
mechanical energy into intermediate forms and without any external
sources of energy (besides surface waves). Motion of boat is
characterized by fast jerks and average onward velocity, which
exceeds the velocities of liquid particles in the wave.
Abstract: Optical flow is a research topic of interest for many
years. It has, until recently, been largely inapplicable to real-time
applications due to its computationally expensive nature. This paper
presents a new reliable flow technique which is combined with a
motion detection algorithm, from stationary camera image streams,
to allow flow-based analyses of moving entities, such as rigidity, in
real-time. The combination of the optical flow analysis with motion
detection technique greatly reduces the expensive computation of
flow vectors as compared with standard approaches, rendering the
method to be applicable in real-time implementation. This paper
describes also the hardware implementation of a proposed pipelined
system to estimate the flow vectors from image sequences in real
time. This design can process 768 x 576 images at a very high frame
rate that reaches to 156 fps in a single low cost FPGA chip, which is
adequate for most real-time vision applications.
Abstract: The paper presents an analytical solution for dispersion
of a solute in the peristaltic motion of a couple stress fluid
through a porous medium with slip condition in the presence of both
homogeneous and heterogeneous chemical reactions. The average
effective dispersion coefficient has been found using Taylor-s limiting
condition and long wavelength approximation. The effects of various
relevant parameters on the average coefficient of dispersion have been
studied. The average effective dispersion coefficient tends to increase
with permeability parameter but tends to decrease with homogeneous
chemical reaction rate parameter, couple stress parameter, slip parameter
and heterogeneous reaction rate parameter.
Abstract: This paper describes a segmentation algorithm based
on the cooperation of an optical flow estimation method with edge
detection and region growing procedures.
The proposed method has been developed as a pre-processing
stage to be used in methodologies and tools for video/image indexing
and retrieval by content. The addressed problem consists in
extracting whole objects from background for producing images of
single complete objects from videos or photos. The extracted images
are used for calculating the object visual features necessary for both
indexing and retrieval processes.
The first task of the algorithm exploits the cues from motion
analysis for moving area detection. Objects and background are then
refined using respectively edge detection and region growing
procedures. These tasks are iteratively performed until objects and
background are completely resolved.
The developed method has been applied to a variety of indoor and
outdoor scenes where objects of different type and shape are
represented on variously textured background.
Abstract: The ability to recognize humans and their activities by computer vision is a very important task, with many potential application. Study of human motion analysis is related to several research areas of computer vision such as the motion capture, detection, tracking and segmentation of people. In this paper, we describe a segmentation method for extracting human body contour in modified HLS color space. To estimate a background, the modified HLS color space is proposed, and the background features are estimated by using the HLS color components. Here, the large amount of human dataset, which was collected from DV cameras, is pre-processed. The human body and its contour is successfully extracted from the image sequences.
Abstract: We present design, fabrication, and characterization of
a small (12 mm × 12 mm × 8 mm) movable railway vehicle for sensor
carrying. The miniature railway vehicle (MRV) was mainly composed
of a vibrational structure and three legs. A railway was designed and
fabricated to power and guide the MRV. It also transmits the sensed
data from the MRV to the signal processing unit. The MRV with legs
on the railway was moving due to its high-frequency vibration. A
model was derived to describe the motion. Besides, FEM simulations
were performed to design the legs. Then, the MRV and the railway
were fabricated by precision machining. Finally, an infrared sensor
was carried and tested. The result shows that the MRV without loading
was moving along the railway and its maximum speed was 12.2 mm/s.
Moreover, the testing signal was sensed by the MRV.
Abstract: Open and distance learning is a fairly new concept in
Malawi. The major public provider, the Malawi College of Distance
Education, rolled out its activities only about 40 years ago. Over the
years, the demand for distance education has tremendously increased.
The present government has displayed positive political will to uplift
ODL as outlined in the Malawi Growth and Development Strategy as
well as the National Education Sector Plan. A growing national
interest in education coupled with political stability and a booming
ICT industry also raise hope for success. However, a fragile economy
with a GNI per capita of -US$ 200 over the last decade, poor public
funding, erratic power supply and lack of expertise put strain on
efforts towards the promotion of ODL initiatives. Despite the
challenges, the nation appears determined to go flat out and explore
all possible avenues that could revolutionise education access and
equity through ODL.